diff --git a/Jenkinsfile b/Jenkinsfile index 0905abd6da..f3a63d3dec 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -178,7 +178,7 @@ node { try { if (env.BRANCH_NAME == 'devel-staging') { - deviceStage("build release3-staging", "tici-needs-can", [], [ + deviceStage("build release3-staging", "tizi-needs-can", [], [ step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"), ]) } @@ -186,12 +186,12 @@ node { if (env.BRANCH_NAME == '__nightly') { parallel ( 'nightly': { - deviceStage("build nightly", "tici-needs-can", [], [ + deviceStage("build nightly", "tizi-needs-can", [], [ step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"), ]) }, 'nightly-dev': { - deviceStage("build nightly-dev", "tici-needs-can", [], [ + deviceStage("build nightly-dev", "tizi-needs-can", [], [ step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"), ]) }, @@ -200,39 +200,30 @@ node { if (!env.BRANCH_NAME.matches(excludeRegex)) { parallel ( - // tici tests 'onroad tests': { - deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [ + deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [ step("build openpilot", "cd system/manager && ./build.py"), step("check dirty", "release/check-dirty.sh"), step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]), ]) }, 'HW + Unit Tests': { - deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [ + deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py"), step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]), step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"), step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]), - step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]), step("test manager", "pytest system/manager/test/test_manager.py"), ]) }, 'loopback': { - deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [ + deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [ step("build openpilot", "cd system/manager && ./build.py"), step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"), ]) }, - 'camerad AR0231': { - deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [ - step("build", "cd system/manager && ./build.py"), - step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]), - step("test exposure", "pytest system/camerad/test/test_exposure.py"), - ]) - }, 'camerad OX03C10': { - deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [ + deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py"), step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]), step("test exposure", "pytest system/camerad/test/test_exposure.py"), @@ -246,17 +237,13 @@ node { ]) }, 'sensord': { - deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [ - step("build", "cd system/manager && ./build.py"), - step("test sensord", "pytest system/sensord/tests/test_sensord.py"), - ]) - deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [ + deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py"), step("test sensord", "pytest system/sensord/tests/test_sensord.py"), ]) }, 'replay': { - deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [ + deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [ step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]), step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]), ]) @@ -266,7 +253,6 @@ node { step("build openpilot", "cd system/manager && ./build.py"), step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"), step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"), - step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]), step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"), // TODO: enable once new AGNOS is available // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"), diff --git a/README.md b/README.md index f3af58f85b..9f1819afbf 100644 --- a/README.md +++ b/README.md @@ -42,10 +42,10 @@ Using openpilot in a car ------ To use openpilot in a car, you need four things: -1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x). -2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version. +1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x). +2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version. 3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md). -4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car. +4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car. We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play. diff --git a/RELEASES.md b/RELEASES.md index dacf0eaa17..d89ee24628 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,9 @@ Version 0.10.1 (2025-09-08) ======================== +* New driving model + * World Model: removed global localization inputs + * World Model: 2x the number of parameters + * World Model: trained on 4x the number of segments * Record driving feedback using LKAS button * Honda City 2023 support thanks to drFritz! diff --git a/cereal/log.capnp b/cereal/log.capnp index e756843562..b98c1f5242 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -585,7 +585,6 @@ struct PandaState @0xa7649e2575e4591e { heartbeatLost @22 :Bool; interruptLoad @25 :Float32; fanPower @28 :UInt8; - fanStallCount @34 :UInt8; spiErrorCount @33 :UInt16; @@ -714,6 +713,7 @@ struct PandaState @0xa7649e2575e4591e { usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED; safetyParamDEPRECATED @20 :Int16; safetyParam2DEPRECATED @26 :UInt32; + fanStallCountDEPRECATED @34 :UInt8; } struct PeripheralState { diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc index 1a7a48980e..7f7e2795c4 100644 --- a/cereal/messaging/socketmaster.cc +++ b/cereal/messaging/socketmaster.cc @@ -33,7 +33,7 @@ MessageContext message_context; struct SubMaster::SubMessage { std::string name; SubSocket *socket = nullptr; - int freq = 0; + float freq = 0.0f; bool updated = false, alive = false, valid = false, ignore_alive; uint64_t rcv_time = 0, rcv_frame = 0; void *allocated_msg_reader = nullptr; diff --git a/cereal/services.py b/cereal/services.py index a4c7463f20..edeca412ce 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -109,12 +109,12 @@ def build_header(): h += "#include \n" h += "#include \n" - h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n" + h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n" h += "static std::map services = {\n" for k, v in SERVICE_LIST.items(): should_log = "true" if v.should_log else "false" decimation = -1 if v.decimation is None else v.decimation - h += ' { "%s", {"%s", %s, %d, %d}},\n' % \ + h += ' { "%s", {"%s", %s, %f, %d}},\n' % \ (k, k, should_log, v.frequency, decimation) h += "};\n" diff --git a/common/params_keys.h b/common/params_keys.h index c54600462c..211b4d550b 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -94,7 +94,6 @@ inline static std::unordered_map keys = { {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}}, {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}}, {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}}, - {"Offroad_StorageMissing", {CLEAR_ON_MANAGER_START, JSON}}, {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}}, {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}}, {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}}, diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index 154734b7fc..7583095eaf 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -39,7 +39,7 @@ All of these are examples of good PRs: ### First contribution [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty. -There's lot of bounties that don't require a comma 3/3X or a car. +There's lot of bounties that don't require a comma 3X or a car. ## Pull Requests diff --git a/docs/SAFETY.md b/docs/SAFETY.md index 18a450a395..25815e3372 100644 --- a/docs/SAFETY.md +++ b/docs/SAFETY.md @@ -16,7 +16,7 @@ industry standards of safety for Level 2 Driver Assistance Systems. In particula ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf) released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/)) on parts of openpilot that are safety relevant. We also perform software-in-the-loop, -hardware-in-the-loop and in-vehicle tests before each software release. +hardware-in-the-loop, and in-vehicle tests before each software release. Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot ensuring two main safety requirements. @@ -29,8 +29,18 @@ ensuring two main safety requirements. For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety). -**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or - not fully meeting the above requirements. +[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. -[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. +--- +### Forks of openpilot + +* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring) +* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py) +* If your fork modifies any of the code in `opendbc/safety/`: + * your fork cannot use the openpilot trademark + * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes + +Failure to comply with these standards will get you and your users banned from comma.ai servers. + +**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.** diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md index cbaccaae6a..5f02e11599 100644 --- a/docs/how-to/connect-to-comma.md +++ b/docs/how-to/connect-to-comma.md @@ -1,11 +1,11 @@ -# connect to a comma 3/3X +# connect to a comma 3X -A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console). +A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console). ## Serial Console On both the comma three and 3X, the serial console is accessible from the main OBD-C port. -Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power. +Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power. On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect. @@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555` > [!NOTE] -> The default port for ADB is 5555 on the comma 3/3X. +> The default port for ADB is 5555 on the comma 3X. For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb). diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md index 084b6bf825..b0db36a46f 100644 --- a/docs/how-to/replay-a-drive.md +++ b/docs/how-to/replay-a-drive.md @@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging. Just run `tools/replay/replay --demo`. ## Replaying CAN data -*Hardware required: jungle and comma 3/3X* +*Hardware required: jungle and comma 3X* 1. Connect your PC to a jungle. 2. diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md index 13b3b03e80..eb6e75afa2 100644 --- a/docs/how-to/turn-the-speed-blue.md +++ b/docs/how-to/turn-the-speed-blue.md @@ -3,7 +3,7 @@ In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI. -And if you have a comma 3/3X, we'll deploy the change to your device for testing. +And if you have a comma 3X, we'll deploy the change to your device for testing. ## 1. Set up your development environment diff --git a/launch_env.sh b/launch_env.sh index 4c011c6ac0..7124b360f8 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="12.8" + export AGNOS_VERSION="13" fi export STAGING_ROOT="/data/safe_staging" diff --git a/mkdocs.yml b/mkdocs.yml index a66d1c76d4..550f807aca 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -21,7 +21,7 @@ nav: - What is openpilot?: getting-started/what-is-openpilot.md - How-to: - Turn the speed blue: how-to/turn-the-speed-blue.md - - Connect to a comma 3/3X: how-to/connect-to-comma.md + - Connect to a comma 3X: how-to/connect-to-comma.md # - Make your first pull request: how-to/make-first-pr.md #- Replay a drive: how-to/replay-a-drive.md - Concepts: diff --git a/panda b/panda index 3dc2138623..819fa5854e 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 3dc21386239e3073a623156b75901aa302340d6c +Subproject commit 819fa5854e2e75da7f982f7d06be69c61793d6e1 diff --git a/pyproject.toml b/pyproject.toml index 7103163458..7d6516c0fb 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -101,8 +101,9 @@ dev = [ "av", "azure-identity", "azure-storage-blob", - "dbus-next", + "dbus-next", # TODO: remove once we moved everything to jeepney "dictdiffer", + "jeepney", "matplotlib", "opencv-python-headless", "parameterized >=0.8, <0.9", diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index dffe85c473..5a2814e089 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -52,10 +52,8 @@ class LatControlTorque(LatControl): actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) - desired_lateral_accel = desired_curvature * CS.vEgo ** 2 - # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature - # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2 + desired_lateral_accel = desired_curvature * CS.vEgo ** 2 actual_lateral_accel = actual_curvature * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 @@ -67,6 +65,8 @@ class LatControlTorque(LatControl): # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly pid_log.error = float(setpoint - measurement) ff = gravity_adjusted_lateral_accel + # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll + ff -= self.torque_params.latAccelOffset ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params) freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5 diff --git a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py new file mode 100644 index 0000000000..84389856b6 --- /dev/null +++ b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py @@ -0,0 +1,70 @@ +import numpy as np +from cereal import car, messaging +from opendbc.car import ACCELERATION_DUE_TO_GRAVITY +from opendbc.car import structs +from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS + +np.random.seed(0) + +LA_ERR_STD = 1.0 +INPUT_NOISE_STD = 0.08 +V_EGO = 30.0 + +WARMUP_BUCKET_POINTS = (1.5*MIN_BUCKET_POINTS).astype(int) +STRAIGHT_ROAD_LA_BOUNDS = (0.02, 0.03) + +ROLL_BIAS_DEG = 2.0 +ROLL_COMPENSATION_BIAS = ACCELERATION_DUE_TO_GRAVITY*float(np.sin(np.deg2rad(ROLL_BIAS_DEG))) +TORQUE_TUNE = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=0.0, friction=0.2) +TORQUE_TUNE_BIASED = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=-ROLL_COMPENSATION_BIAS, friction=0.2) + +def generate_inputs(torque_tune, la_err_std, input_noise_std=None): + rng = np.random.default_rng(0) + steer_torques = np.concat([rng.uniform(bnd[0], bnd[1], pts) for bnd, pts in zip(STEER_BUCKET_BOUNDS, WARMUP_BUCKET_POINTS, strict=True)]) + la_errs = rng.normal(scale=la_err_std, size=steer_torques.size) + frictions = np.array([get_friction(la_err, 0.0, FRICTION_THRESHOLD, torque_tune) for la_err in la_errs]) + lat_accels = torque_tune.latAccelFactor*steer_torques + torque_tune.latAccelOffset + frictions + if input_noise_std is not None: + steer_torques += rng.normal(scale=input_noise_std, size=steer_torques.size) + lat_accels += rng.normal(scale=input_noise_std, size=steer_torques.size) + return steer_torques, lat_accels + +def get_warmed_up_estimator(steer_torques, lat_accels): + est = TorqueEstimator(car.CarParams()) + for steer_torque, lat_accel in zip(steer_torques, lat_accels, strict=True): + est.filtered_points.add_point(steer_torque, lat_accel) + return est + +def simulate_straight_road_msgs(est): + carControl = messaging.new_message('carControl').carControl + carOutput = messaging.new_message('carOutput').carOutput + carState = messaging.new_message('carState').carState + livePose = messaging.new_message('livePose').livePose + carControl.latActive = True + carState.vEgo = V_EGO + carState.steeringPressed = False + ts = DT_MDL*np.arange(2*POINTS_PER_BUCKET) + steer_torques = np.concat((np.linspace(-0.03, -0.02, POINTS_PER_BUCKET), np.linspace(0.02, 0.03, POINTS_PER_BUCKET))) + lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques + for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True): + carOutput.actuatorsOutput.torque = float(-steer_torque) + livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG)) + livePose.angularVelocityDevice.z = float(lat_accel / V_EGO) + for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)): + est.handle_log(t, which, msg) + +def test_estimated_offset(): + steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD) + est = get_warmed_up_estimator(steer_torques, lat_accels) + msg = est.get_msg() + # TODO add lataccelfactor and friction check when we have more accurate estimates + assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1 + +def test_straight_road_roll_bias(): + steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD) + est = get_warmed_up_estimator(steer_torques, lat_accels) + simulate_straight_road_msgs(est) + msg = est.get_msg() + assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw) diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index 5ca0a86bc8..ff7e1d8600 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -13,12 +13,9 @@ class ModelConstants: META_T_IDXS = [2., 4., 6., 8., 10.] # model inputs constants - MODEL_FREQ = 20 - HISTORY_FREQ = 5 - HISTORY_LEN_SECONDS = 5 - TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ - FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS - INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS + N_FRAMES = 2 + MODEL_RUN_FREQ = 20 + MODEL_CONTEXT_FREQ = 5 # "model_trained_fps" FEATURE_LEN = 512 diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index a2b54b420e..82c4c92b1d 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -149,7 +149,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D meta.hardBrakePredicted = hard_brake_predicted.item() # confidence - if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0: + if vipc_frame_id % (2*ModelConstants.MODEL_RUN_FREQ) == 0: # any disengage prob brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE] gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE] diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 8bc8bf01ab..e08fc30c2e 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -77,6 +77,64 @@ class FrameMeta: if vipc is not None: self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof +class InputQueues: + def __init__ (self, model_fps, env_fps, n_frames_input): + assert env_fps % model_fps == 0 + assert env_fps >= model_fps + self.model_fps = model_fps + self.env_fps = env_fps + self.n_frames_input = n_frames_input + + self.dtypes = {} + self.shapes = {} + self.q = {} + + def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None: + self.dtypes.update(input_dtypes) + if self.env_fps == self.model_fps: + self.shapes.update(input_shapes) + else: + for k in input_shapes: + shape = list(input_shapes[k]) + if 'img' in k: + n_channels = shape[1] // self.n_frames_input + shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels + else: + shape[1] = (self.env_fps // self.model_fps) * shape[1] + self.shapes[k] = tuple(shape) + + def reset(self) -> None: + self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()} + + def enqueue(self, inputs:dict[str, np.ndarray]) -> None: + for k in inputs.keys(): + if inputs[k].dtype != self.dtypes[k]: + raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}') + input_shape = list(self.shapes[k]) + input_shape[1] = -1 + single_input = inputs[k].reshape(tuple(input_shape)) + sz = single_input.shape[1] + self.q[k][:,:-sz] = self.q[k][:,sz:] + self.q[k][:,-sz:] = single_input + + def get(self, *names) -> dict[str, np.ndarray]: + if self.env_fps == self.model_fps: + return {k: self.q[k] for k in names} + else: + out = {} + for k in names: + shape = self.shapes[k] + if 'img' in k: + n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1)) + out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1) + elif 'pulse' in k: + # any pulse within interval counts + out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2) + else: + idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1] + out[k] = self.q[k][:, idxs] + return out + class ModelState: frames: dict[str, DrivingModelFrame] inputs: dict[str, np.ndarray] @@ -97,19 +155,15 @@ class ModelState: self.policy_output_slices = policy_metadata['output_slices'] policy_output_size = policy_metadata['output_shapes']['outputs'][1] - self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names} + self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names} self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) - self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32) - self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32) - self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP) - # policy inputs - self.numpy_inputs = { - 'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32), - 'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32), - 'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32), - } + self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes} + self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES) + for k in ['desire_pulse', 'features_buffer']: + self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape}) + self.full_input_queues.reset() # img buffers are managed in openCL transform code self.vision_inputs: dict[str, Tensor] = {} @@ -131,15 +185,10 @@ class ModelState: def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray], inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None: # Model decides when action is completed, so desire input is just a pulse triggered on rising edge - inputs['desire'][0] = 0 - new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) - self.prev_desire[:] = inputs['desire'] - - self.full_desire[0,:-1] = self.full_desire[0,1:] - self.full_desire[0,-1] = new_desire - self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2) + inputs['desire_pulse'][0] = 0 + new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0) + self.prev_desire[:] = inputs['desire_pulse'] - self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names} if TICI and not USBGPU: @@ -158,9 +207,10 @@ class ModelState: self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy() vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices)) - self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:] - self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :] - self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs] + self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire}) + for k in ['desire_pulse', 'features_buffer']: + self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k] + self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy() policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices)) @@ -218,7 +268,7 @@ def main(demo=False): params = Params() # setup filter to track dropped frames - frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ) + frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ) frame_id = 0 last_vipc_frame_id = 0 run_count = 0 @@ -313,7 +363,7 @@ def main(demo=False): bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names} transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names} inputs:dict[str, np.ndarray] = { - 'desire': vec_desire, + 'desire_pulse': vec_desire, 'traffic_convention': traffic_convention, } diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 867a0d3b9b..eb6bd7b8a4 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251 -size 12343523 +oid sha256:72e98a95541f200bd2faeae8d718997483696fd4801fc7d718c167b05854707d +size 12343535 diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc index faaeb15319..8289df5491 100644 --- a/selfdrive/pandad/pandad.cc +++ b/selfdrive/pandad/pandad.cc @@ -152,7 +152,6 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt)); ps.setInterruptLoad(health.interrupt_load_pkt); ps.setFanPower(health.fan_power); - ps.setFanStallCount(health.fan_stall_count); ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt)); ps.setSpiErrorCount(health.spi_error_count_pkt); ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f); diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py index 4e49813f5d..d75af283f2 100755 --- a/selfdrive/pandad/pandad.py +++ b/selfdrive/pandad/pandad.py @@ -85,11 +85,6 @@ def main() -> None: cloudlog.event("pandad.flash_and_connect", count=count) params.remove("PandaSignatures") - # TODO: remove this in the next AGNOS - # wait until USB is up before counting - if time.monotonic() < 60.: - no_internal_panda_count = 0 - # Handle missing internal panda if no_internal_panda_count > 0: if no_internal_panda_count == 3: diff --git a/selfdrive/pandad/tests/bootstub.panda.bin b/selfdrive/pandad/tests/bootstub.panda.bin deleted file mode 100755 index 43db537061..0000000000 Binary files a/selfdrive/pandad/tests/bootstub.panda.bin and /dev/null differ diff --git a/selfdrive/pandad/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py index 87f30e4793..6a7359fd85 100644 --- a/selfdrive/pandad/tests/test_pandad.py +++ b/selfdrive/pandad/tests/test_pandad.py @@ -22,8 +22,6 @@ class TestPandad: if len(Panda.list()) == 0: self._run_test(60) - self.spi = HARDWARE.get_device_type() != 'tici' - def teardown_method(self): managed_processes['pandad'].stop() @@ -106,11 +104,9 @@ class TestPandad: # - 0.2s pandad -> pandad # - plus some buffer print("startup times", ts, sum(ts) / len(ts)) - assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0) + assert 0.1 < (sum(ts)/len(ts)) < 0.7 def test_protocol_version_check(self): - if not self.spi: - pytest.skip("SPI test") # flash old fw fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin") self._flash_bootstub_and_test(fn, expect_mismatch=True) diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py index 9f7cc3b029..da4b181993 100644 --- a/selfdrive/pandad/tests/test_pandad_spi.py +++ b/selfdrive/pandad/tests/test_pandad_spi.py @@ -6,7 +6,6 @@ import random import cereal.messaging as messaging from cereal.services import SERVICE_LIST -from openpilot.system.hardware import HARDWARE from openpilot.selfdrive.test.helpers import with_processes from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages @@ -16,8 +15,6 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ class TestBoarddSpi: @classmethod def setup_class(cls): - if HARDWARE.get_device_type() == 'tici': - pytest.skip("only for spi pandas") os.environ['STARTED'] = '1' os.environ['SPI_ERR_PROB'] = '0.001' if not JUNGLE_SPAM: diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json index 42aca22008..3d97135f60 100644 --- a/selfdrive/selfdrived/alerts_offroad.json +++ b/selfdrive/selfdrived/alerts_offroad.json @@ -29,10 +29,6 @@ "text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.", "severity": 1 }, - "Offroad_StorageMissing": { - "text": "NVMe drive not mounted.", - "severity": 1 - }, "Offroad_CarUnrecognized": { "text": "openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.", "severity": 0 diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index cf22040e84..e9c62fe327 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -21,7 +21,6 @@ from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck from openpilot.selfdrive.selfdrived.state import StateMachine from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert -from openpilot.system.hardware import HARDWARE from openpilot.system.version import get_build_metadata REPLAY = "REPLAY" in os.environ @@ -122,13 +121,6 @@ class SelfdriveD: self.state_machine = StateMachine() self.rk = Ratekeeper(100, print_delay_threshold=None) - # some comma three with NVMe experience NVMe dropouts mid-drive that - # cause loggerd to crash on write, so ignore it only on that platform - self.ignored_processes = set() - nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment")) - if HARDWARE.get_device_type() == 'tici' and nvme_expected: - self.ignored_processes = {'loggerd', } - # Determine startup event self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster if not car_recognized: @@ -299,7 +291,7 @@ class SelfdriveD: if not_running != self.not_running_prev: cloudlog.event("process_not_running", not_running=not_running, error=True) self.not_running_prev = not_running - if self.sm.recv_frame['managerState'] and (not_running - self.ignored_processes): + if self.sm.recv_frame['managerState'] and not_running: self.events.add(EventName.processNotRunning) else: if not SIMULATION and not self.rk.lagging: diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 56a0fdb61a..1144b7955e 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -591,7 +591,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") -> if len(live_calibration) > 0: custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes() if len(live_parameters) > 0: - custom_params["LiveParameters"] = live_parameters[msg_index].as_builder().to_bytes() + custom_params["LiveParametersV2"] = live_parameters[msg_index].as_builder().to_bytes() if len(live_torque_parameters) > 0: custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8e4ff1e2a8..e1133061f5 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -209b47bea61e145cf2d27eb3ab650c97bcd1d33f \ No newline at end of file +4c677a3ebcbd3d4faa3de98e3fb9c0bb83b47926 \ No newline at end of file diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 0149653c84..3cb1af10df 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -18,7 +18,6 @@ from openpilot.common.timeout import Timeout from openpilot.common.params import Params from openpilot.selfdrive.selfdrived.events import EVENTS, ET from openpilot.selfdrive.test.helpers import set_params_enabled, release_only -from openpilot.system.hardware import HARDWARE from openpilot.system.hardware.hw import Paths from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.log_time_series import msgs_to_time_series @@ -33,7 +32,7 @@ CPU usage budget TEST_DURATION = 25 LOG_OFFSET = 8 -MAX_TOTAL_CPU = 280. # total for all 8 cores +MAX_TOTAL_CPU = 287. # total for all 8 cores PROCS = { # Baseline CPU usage by process "selfdrive.controls.controlsd": 16.0, @@ -67,20 +66,10 @@ PROCS = { "system.statsd": 1.0, "system.loggerd.uploader": 15.0, "system.loggerd.deleter": 1.0, + "./pandad": 19.0, + "system.qcomgpsd.qcomgpsd": 1.0, } -PROCS.update({ - "tici": { - "./pandad": 5.0, - "./ubloxd": 1.0, - "system.ubloxd.pigeond": 6.0, - }, - "tizi": { - "./pandad": 19.0, - "system.qcomgpsd.qcomgpsd": 1.0, - } -}.get(HARDWARE.get_device_type(), {})) - TIMINGS = { # rtols: max/min, rsd "can": [2.5, 0.35], diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py index 3ab8525d33..777d2f4c3f 100644 --- a/selfdrive/ui/layouts/main.py +++ b/selfdrive/ui/layouts/main.py @@ -63,14 +63,20 @@ class MainLayout(Widget): # Don't hide sidebar from interactive timeout if self._current_mode != MainState.ONROAD: self._sidebar.set_visible(False) - self._current_mode = MainState.ONROAD + self._set_current_layout(MainState.ONROAD) else: - self._current_mode = MainState.HOME + self._set_current_layout(MainState.HOME) self._sidebar.set_visible(True) + def _set_current_layout(self, layout: MainState): + if layout != self._current_mode: + self._layouts[self._current_mode].hide_event() + self._current_mode = layout + self._layouts[self._current_mode].show_event() + def open_settings(self, panel_type: PanelType): self._layouts[MainState.SETTINGS].set_current_panel(panel_type) - self._current_mode = MainState.SETTINGS + self._set_current_layout(MainState.SETTINGS) self._sidebar.set_visible(False) def _on_settings_clicked(self): diff --git a/selfdrive/ui/layouts/network.py b/selfdrive/ui/layouts/network.py deleted file mode 100644 index 856be26e97..0000000000 --- a/selfdrive/ui/layouts/network.py +++ /dev/null @@ -1,17 +0,0 @@ -import pyray as rl -from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper -from openpilot.system.ui.widgets import Widget -from openpilot.system.ui.widgets.network import WifiManagerUI - - -class NetworkLayout(Widget): - def __init__(self): - super().__init__() - self.wifi_manager = WifiManagerWrapper() - self.wifi_ui = WifiManagerUI(self.wifi_manager) - - def _render(self, rect: rl.Rectangle): - self.wifi_ui.render(rect) - - def shutdown(self): - self.wifi_manager.shutdown() diff --git a/selfdrive/ui/layouts/settings/firehose.py b/selfdrive/ui/layouts/settings/firehose.py index 74a8f317d5..b3db1fa5f0 100644 --- a/selfdrive/ui/layouts/settings/firehose.py +++ b/selfdrive/ui/layouts/settings/firehose.py @@ -2,7 +2,7 @@ import pyray as rl import time import threading -from openpilot.common.api import Api, api_get +from openpilot.common.api import api_get from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.ui.ui_state import ui_state @@ -11,7 +11,7 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel from openpilot.system.ui.lib.wrap_text import wrap_text from openpilot.system.ui.widgets import Widget - +from openpilot.selfdrive.ui.lib.api_helpers import get_token TITLE = "Firehose Mode" DESCRIPTION = ( @@ -163,7 +163,7 @@ class FirehoseLayout(Widget): dongle_id = self.params.get("DongleId") if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID: return - identity_token = Api(dongle_id).get_token() + identity_token = get_token(dongle_id) response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token) if response.status_code == 200: data = response.json() diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py index 674e5005f4..a731a9158c 100644 --- a/selfdrive/ui/layouts/settings/settings.py +++ b/selfdrive/ui/layouts/settings/settings.py @@ -2,7 +2,6 @@ import pyray as rl from dataclasses import dataclass from enum import IntEnum from collections.abc import Callable -from openpilot.selfdrive.ui.layouts.network import NetworkLayout from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout @@ -10,7 +9,9 @@ from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.system.ui.lib.text_measure import measure_text_cached +from openpilot.system.ui.lib.wifi_manager import WifiManager from openpilot.system.ui.widgets import Widget +from openpilot.system.ui.widgets.network import WifiManagerUI # Settings close button SETTINGS_CLOSE_TEXT = "×" @@ -43,7 +44,7 @@ class PanelType(IntEnum): @dataclass class PanelInfo: name: str - instance: object + instance: Widget button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) @@ -53,9 +54,12 @@ class SettingsLayout(Widget): self._current_panel = PanelType.DEVICE # Panel configuration + wifi_manager = WifiManager() + wifi_manager.set_active(False) + self._panels = { PanelType.DEVICE: PanelInfo("Device", DeviceLayout()), - PanelType.NETWORK: PanelInfo("Network", NetworkLayout()), + PanelType.NETWORK: PanelInfo("Network", WifiManagerUI(wifi_manager)), PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout()), PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout()), PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout()), @@ -149,8 +153,14 @@ class SettingsLayout(Widget): def set_current_panel(self, panel_type: PanelType): if panel_type != self._current_panel: + self._panels[self._current_panel].instance.hide_event() self._current_panel = panel_type + self._panels[self._current_panel].instance.show_event() + + def show_event(self): + super().show_event() + self._panels[self._current_panel].instance.show_event() - def close_settings(self): - if self._close_callback: - self._close_callback() + def hide_event(self): + super().hide_event() + self._panels[self._current_panel].instance.hide_event() diff --git a/selfdrive/ui/lib/api_helpers.py b/selfdrive/ui/lib/api_helpers.py new file mode 100644 index 0000000000..b83efedb60 --- /dev/null +++ b/selfdrive/ui/lib/api_helpers.py @@ -0,0 +1,14 @@ +import time +from functools import lru_cache +from openpilot.common.api import Api + +TOKEN_EXPIRY_HOURS = 2 + + +@lru_cache(maxsize=1) +def _get_token(dongle_id: str, t: int): + return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS) + + +def get_token(dongle_id: str): + return _get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60))) diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py index da2ff899dd..be2132c1b7 100644 --- a/selfdrive/ui/lib/prime_state.py +++ b/selfdrive/ui/lib/prime_state.py @@ -2,14 +2,12 @@ from enum import IntEnum import os import threading import time -from functools import lru_cache -from openpilot.common.api import Api, api_get +from openpilot.common.api import api_get from openpilot.common.params import Params from openpilot.common.swaglog import cloudlog from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID - -TOKEN_EXPIRY_HOURS = 2 +from openpilot.selfdrive.ui.lib.api_helpers import get_token class PrimeType(IntEnum): @@ -23,12 +21,6 @@ class PrimeType(IntEnum): PURPLE = 5, -@lru_cache(maxsize=1) -def get_token(dongle_id: str, t: int): - print('getting token') - return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS) - - class PrimeState: FETCH_INTERVAL = 5.0 # seconds between API calls API_TIMEOUT = 10.0 # seconds for API requests @@ -58,15 +50,13 @@ class PrimeState: return try: - identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60))) + identity_token = get_token(dongle_id) response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token) if response.status_code == 200: data = response.json() is_paired = data.get("is_paired", False) prime_type = data.get("prime_type", 0) self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED) - elif response.status_code == 401: - get_token.cache_clear() except Exception as e: cloudlog.error(f"Failed to fetch prime status: {e}") diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 422183c5d5..32aead0b4f 100755 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -29,7 +29,7 @@ UI_DELAY = 0.1 # may be slower on CI? TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = [] -OFFROAD_ALERTS = ['Offroad_StorageMissing', 'Offroad_IsTakingSnapshot'] +OFFROAD_ALERTS = ['Offroad_IsTakingSnapshot', ] DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys( ["carParams", "deviceState", "pandaStates", "controlsState", "selfdriveState", "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState", diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 4f8bd7ddfc..9ec61b9b81 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -54,8 +54,7 @@ static void update_state(UIState *s) { } if (sm.updated("wideRoadCameraState")) { auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState(); - float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f; - scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f); + scene.light_sensor = std::max(100.0f - cam_state.getExposureValPercent(), 0.0f); } else if (!sm.allAliveAndValid({"wideRoadCameraState"})) { scene.light_sensor = -1; } diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py index c2bb5f77a4..c4a2c0ca11 100644 --- a/selfdrive/ui/ui_state.py +++ b/selfdrive/ui/ui_state.py @@ -105,10 +105,7 @@ class UIState: # Handle wide road camera state updates if self.sm.updated["wideRoadCameraState"]: cam_state = self.sm["wideRoadCameraState"] - - # Scale factor based on sensor type - scale = 6.0 if cam_state.sensor == 'ar0231' else 1.0 - self.light_sensor = max(100.0 - scale * cam_state.exposureValPercent, 0.0) + self.light_sensor = max(100.0 - cam_state.exposureValPercent, 0.0) elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]: self.light_sensor = -1 diff --git a/system/camerad/SConscript b/system/camerad/SConscript index fe5cf87b78..734f748a2a 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -4,7 +4,7 @@ libs = [common, 'OpenCL', messaging, visionipc, gpucommon] if arch != "Darwin": camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc', - 'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) + 'cameras/cdm.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) env.Program('camerad', ['main.cc', camera_obj], LIBS=libs) if GetOption("extras") and arch == "x86_64": diff --git a/system/camerad/cameras/hw.h b/system/camerad/cameras/hw.h index d299627ce9..f20a1b3ade 100644 --- a/system/camerad/cameras/hw.h +++ b/system/camerad/cameras/hw.h @@ -13,7 +13,7 @@ typedef enum { ISP_BPS_PROCESSED, // fully processed image through the BPS } SpectraOutputType; -// For the comma 3/3X three camera platform +// For the comma 3X three camera platform struct CameraConfig { int camera_num; diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 47ae9061f4..caf7871573 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -1004,8 +1004,7 @@ bool SpectraCamera::openSensor() { }; // Figure out which sensor we have - if (!init_sensor_lambda(new AR0231) && - !init_sensor_lambda(new OX03C10) && + if (!init_sensor_lambda(new OX03C10) && !init_sensor_lambda(new OS04C10)) { LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num); enabled = false; diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc deleted file mode 100644 index e4ae29f079..0000000000 --- a/system/camerad/sensors/ar0231.cc +++ /dev/null @@ -1,136 +0,0 @@ -#include -#include - -#include "system/camerad/sensors/sensor.h" - -namespace { - -const size_t AR0231_REGISTERS_HEIGHT = 2; -// TODO: this extra height is universal and doesn't apply per camera -const size_t AR0231_STATS_HEIGHT = 2 + 8; - -const float sensor_analog_gains_AR0231[] = { - 1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0, // 0, 1, 2, 3 - 3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0, // 4, 5, 6, 7 - 5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0, // 8, 9, 10, 11 - 7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0}; // 12, 13, 14, 15 = bypass - -} // namespace - -AR0231::AR0231() { - image_sensor = cereal::FrameData::ImageSensor::AR0231; - bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR; - pixel_size_mm = 0.003; - data_word = true; - frame_width = 1928; - frame_height = 1208; - frame_stride = (frame_width * 12 / 8) + 4; - extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT; - - registers_offset = 0; - frame_offset = AR0231_REGISTERS_HEIGHT; - stats_offset = AR0231_REGISTERS_HEIGHT + frame_height; - - start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231)); - init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231)); - probe_reg_addr = 0x3000; - probe_expected_data = 0x354; - bits_per_pixel = 12; - mipi_format = CAM_FORMAT_MIPI_RAW_12; - frame_data_type = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead - mclk_frequency = 19200000; //Hz - - readout_time_ns = 22850000; - - dc_gain_factor = 2.5; - dc_gain_min_weight = 0; - dc_gain_max_weight = 1; - dc_gain_on_grey = 0.2; - dc_gain_off_grey = 0.3; - exposure_time_min = 2; // with HDR, fastest ss - exposure_time_max = 0x0855; // with HDR, slowest ss, 40ms - analog_gain_min_idx = 0x1; // 0.25x - analog_gain_rec_idx = 0x6; // 0.8x - analog_gain_max_idx = 0xD; // 4.0x - analog_gain_cost_delta = 0; - analog_gain_cost_low = 0.1; - analog_gain_cost_high = 5.0; - for (int i = 0; i <= analog_gain_max_idx; i++) { - sensor_analog_gains[i] = sensor_analog_gains_AR0231[i]; - } - min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx]; - max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; - target_grey_factor = 1.0; - - black_level = 168; - color_correct_matrix = { - 0x000000af, 0x00000ff9, 0x00000fd8, - 0x00000fbc, 0x000000bb, 0x00000009, - 0x00000fb6, 0x00000fe0, 0x000000ea, - }; - for (int i = 0; i < 65; i++) { - float fx = i / 64.0; - const float gamma_k = 0.75; - const float gamma_b = 0.125; - const float mp = 0.01; // ideally midpoint should be adaptive - const float rk = 9 - 100*mp; - // poly approximation for s curve - fx = (fx > mp) ? - ((rk * (fx-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(fx-mp))) + gamma_k*mp + gamma_b) : - ((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b); - gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5)); - } - prepare_gamma_lut(); - linearization_lut = { - 0x02000000, 0x02000000, 0x02000000, 0x02000000, - 0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff, - 0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff, - 0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff, - 0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff, - 0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff, - 0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff, - 0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff, - 0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff, - }; - linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff}; - vignetting_lut = { - 0x00eaa755, 0x00cf2679, 0x00bc05e0, 0x00acc566, 0x00a1450a, 0x009984cc, 0x0095a4ad, 0x009584ac, 0x009944ca, 0x00a0c506, 0x00ac0560, 0x00bb25d9, 0x00ce2671, 0x00e90748, 0x01112889, 0x014a2a51, 0x01984cc2, - 0x00db06d8, 0x00c30618, 0x00afe57f, 0x00a0a505, 0x009524a9, 0x008d646b, 0x0089844c, 0x0089644b, 0x008d2469, 0x0094a4a5, 0x009fe4ff, 0x00af0578, 0x00c20610, 0x00d986cc, 0x00fda7ed, 0x01320990, 0x017aebd7, - 0x00d1868c, 0x00baa5d5, 0x00a7853c, 0x009844c2, 0x008cc466, 0x0085a42d, 0x0083641b, 0x0083641b, 0x0085842c, 0x008c4462, 0x0097a4bd, 0x00a6c536, 0x00b9a5cd, 0x00d06683, 0x00f1678b, 0x01226913, 0x0167ab3d, - 0x00cd0668, 0x00b625b1, 0x00a30518, 0x0093c49e, 0x00884442, 0x00830418, 0x0080e407, 0x0080c406, 0x0082e417, 0x0087c43e, 0x00932499, 0x00a22511, 0x00b525a9, 0x00cbe65f, 0x00eb0758, 0x011a68d3, 0x015daaed, - 0x00cc4662, 0x00b565ab, 0x00a24512, 0x00930498, 0x0087843c, 0x0082a415, 0x00806403, 0x00806403, 0x00828414, 0x00870438, 0x00926493, 0x00a1850c, 0x00b465a3, 0x00cb2659, 0x00ea2751, 0x011928c9, 0x015c2ae1, - 0x00cf667b, 0x00b885c4, 0x00a5652b, 0x009624b1, 0x008aa455, 0x00846423, 0x00822411, 0x00822411, 0x00844422, 0x008a2451, 0x009564ab, 0x00a48524, 0x00b785bc, 0x00ce4672, 0x00ee6773, 0x011e88f4, 0x0162eb17, - 0x00d6c6b6, 0x00bf65fb, 0x00ac4562, 0x009d04e8, 0x0091848c, 0x0089c44e, 0x00862431, 0x00860430, 0x0089844c, 0x00910488, 0x009c64e3, 0x00ab655b, 0x00be65f3, 0x00d566ab, 0x00f847c2, 0x012b2959, 0x01726b93, - 0x00e3e71f, 0x00ca0650, 0x00b705b8, 0x00a7a53d, 0x009c24e1, 0x009484a4, 0x00908484, 0x00908484, 0x009424a1, 0x009bc4de, 0x00a70538, 0x00b625b1, 0x00c90648, 0x00e26713, 0x0108e847, 0x013fe9ff, 0x018bcc5e, - 0x00f807c0, 0x00d966cb, 0x00c5862c, 0x00b625b1, 0x00aaa555, 0x00a30518, 0x009f04f8, 0x009f04f8, 0x00a2a515, 0x00aa2551, 0x00b585ac, 0x00c4a625, 0x00d846c2, 0x00f647b2, 0x0121a90d, 0x015e4af2, 0x01b8cdc6, - 0x011548aa, 0x00f1678b, 0x00d886c4, 0x00c86643, 0x00bce5e7, 0x00b545aa, 0x00b1658b, 0x00b1458a, 0x00b505a8, 0x00bc85e4, 0x00c7c63e, 0x00d786bc, 0x00efe77f, 0x0113489a, 0x0144ea27, 0x01888c44, 0x01fdcfee, - 0x013e49f2, 0x0113e89f, 0x00f5a7ad, 0x00e0c706, 0x00d30698, 0x00cb665b, 0x00c7663b, 0x00c7663b, 0x00cb0658, 0x00d2a695, 0x00dfe6ff, 0x00f467a3, 0x01122891, 0x013be9df, 0x01750ba8, 0x01cfae7d, 0x025912c8, - 0x01766bb3, 0x01446a23, 0x011fc8fe, 0x0105e82f, 0x00f467a3, 0x00e9874c, 0x00e46723, 0x00e44722, 0x00e92749, 0x00f3a79d, 0x0104c826, 0x011e48f2, 0x01424a12, 0x01738b9c, 0x01bf6dfb, 0x023611b0, 0x02ced676, - 0x01cf8e7c, 0x01866c33, 0x015aaad5, 0x013ae9d7, 0x01250928, 0x011768bb, 0x0110a885, 0x01108884, 0x0116e8b7, 0x01242921, 0x0139a9cd, 0x0158eac7, 0x01840c20, 0x01cb0e58, 0x0233719b, 0x02b9d5ce, 0x03645b22, - }; -} - -std::vector AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { - uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g; - return { - {0x3366, analog_gain_reg}, - {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)}, - {0x3012, (uint16_t)exposure_time}, - }; -} - -int AR0231::getSlaveAddress(int port) const { - assert(port >= 0 && port <= 2); - return (int[]){0x20, 0x30, 0x20}[port]; -} - -float AR0231::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const { - // Cost of ev diff - float score = std::abs(desired_ev - (exp_t * exp_gain)) * 10; - // Cost of absolute gain - float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; - score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; - // Cost of changing gain - score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0; - return score; -} diff --git a/system/camerad/sensors/ar0231_registers.h b/system/camerad/sensors/ar0231_registers.h deleted file mode 100644 index e0872a673a..0000000000 --- a/system/camerad/sensors/ar0231_registers.h +++ /dev/null @@ -1,121 +0,0 @@ -#pragma once - -const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}}; -const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}}; - -const struct i2c_random_wr_payload init_array_ar0231[] = { - {0x301A, 0x0018}, // RESET_REGISTER - - // **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config - - // CLOCK Settings - // input clock is 19.2 / 2 * 0x37 = 528 MHz - // pixclk is 528 / 6 = 88 MHz - // full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms - // img roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL)) = 22.85 ms - {0x302A, 0x0006}, // VT_PIX_CLK_DIV - {0x302C, 0x0001}, // VT_SYS_CLK_DIV - {0x302E, 0x0002}, // PRE_PLL_CLK_DIV - {0x3030, 0x0037}, // PLL_MULTIPLIER - {0x3036, 0x000C}, // OP_PIX_CLK_DIV - {0x3038, 0x0001}, // OP_SYS_CLK_DIV - - // FORMAT - {0x3040, 0xC000}, // READ_MODE - {0x3004, 0x0000}, // X_ADDR_START_ - {0x3008, 0x0787}, // X_ADDR_END_ - {0x3002, 0x0000}, // Y_ADDR_START_ - {0x3006, 0x04B7}, // Y_ADDR_END_ - {0x3032, 0x0000}, // SCALING_MODE - {0x30A2, 0x0001}, // X_ODD_INC_ - {0x30A6, 0x0001}, // Y_ODD_INC_ - {0x3402, 0x0788}, // X_OUTPUT_CONTROL - {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL - {0x3064, 0x1982}, // SMIA_TEST - {0x30BA, 0x11F2}, // DIGITAL_CTRL - - // Enable external trigger and disable GPIO outputs - {0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE - {0x340A, 0xE0}, // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE - {0x340C, 0x802}, // GPIO_HIDRV_EN | GPIO0_ISEL=2 - - // Readout timing - {0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR) - {0x300A, 0x0855}, // FRAME_LENGTH_LINES - {0x3042, 0x0000}, // EXTRA_DELAY - - // Readout Settings - {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI - {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12 - {0x3342, 0x1212}, // MIPI_F1_PDT_EDT - {0x3346, 0x1212}, // MIPI_F2_PDT_EDT - {0x334A, 0x1212}, // MIPI_F3_PDT_EDT - {0x334E, 0x1212}, // MIPI_F4_PDT_EDT - {0x3344, 0x0011}, // MIPI_F1_VDT_VC - {0x3348, 0x0111}, // MIPI_F2_VDT_VC - {0x334C, 0x0211}, // MIPI_F3_VDT_VC - {0x3350, 0x0311}, // MIPI_F4_VDT_VC - {0x31B0, 0x0053}, // FRAME_PREAMBLE - {0x31B2, 0x003B}, // LINE_PREAMBLE - {0x301A, 0x001C}, // RESET_REGISTER - - // Noise Corrections - {0x3092, 0x0C24}, // ROW_NOISE_CONTROL - {0x337A, 0x0C80}, // DBLC_SCALE0 - {0x3370, 0x03B1}, // DBLC - {0x3044, 0x0400}, // DARK_CONTROL - - // Enable temperature sensor - {0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG - {0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG - - // Enable dead pixel correction using - // the 1D line correction scheme - {0x31E0, 0x0003}, - - // HDR Settings - {0x3082, 0x0004}, // OPERATION_MODE_CTRL - {0x3238, 0x0444}, // EXPOSURE_RATIO - - {0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN - {0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN - {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN - {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN - - // TODO: do these have to be lower than LINE_LENGTH_PCK? - {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_ - {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2 - - {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit? - {0x33DA, 0x0000}, // COMPANDING - {0x318E, 0x0200}, // PRE_HDR_GAIN_EN - - // DLO Settings - {0x3100, 0x4000}, // DLO_CONTROL0 - {0x3280, 0x0CCC}, // T1 G1 - {0x3282, 0x0CCC}, // T1 R - {0x3284, 0x0CCC}, // T1 B - {0x3286, 0x0CCC}, // T1 G2 - {0x3288, 0x0FA0}, // T2 G1 - {0x328A, 0x0FA0}, // T2 R - {0x328C, 0x0FA0}, // T2 B - {0x328E, 0x0FA0}, // T2 G2 - - // Initial Gains - {0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_ - {0x3366, 0xFF77}, // ANALOG_GAIN (1x) - - {0x3060, 0x3333}, // ANALOG_COLOR_GAIN - - {0x3362, 0x0000}, // DC GAIN - - {0x305A, 0x00F8}, // red gain - {0x3058, 0x0122}, // blue gain - {0x3056, 0x009A}, // g1 gain - {0x305C, 0x009A}, // g2 gain - - {0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_ - - // Initial Integration Time - {0x3012, 0x0005}, -}; diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index d4be3cf036..96aa8b604f 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -10,7 +10,6 @@ #include "media/cam_sensor.h" #include "cereal/gen/cpp/log.capnp.h" -#include "system/camerad/sensors/ar0231_registers.h" #include "system/camerad/sensors/ox03c10_registers.h" #include "system/camerad/sensors/os04c10_registers.h" @@ -88,17 +87,6 @@ public: }; }; -class AR0231 : public SensorInfo { -public: - AR0231(); - std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; - float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; - int getSlaveAddress(int port) const override; - -private: - mutable std::map> ar0231_register_lut; -}; - class OX03C10 : public SensorInfo { public: OX03C10(); diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index fad93601da..1048acfe0a 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -6,7 +6,6 @@ import struct import threading import time from collections import OrderedDict, namedtuple -from pathlib import Path import psutil @@ -334,12 +333,6 @@ def hardware_thread(end_event, hw_queue) -> None: # to make a different decision in your software startup_conditions["registered_device"] = PC or (params.get("DongleId") != UNREGISTERED_DONGLE_ID) - # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there - if TICI and HARDWARE.get_device_type() == "tici": - if not os.path.isfile("/persist/comma/living-in-the-moment"): - if not Path("/data/media").is_mount(): - set_offroad_alert_if_changed("Offroad_StorageMissing", True) - # Handle offroad/onroad transition should_start = all(onroad_conditions.values()) if started_ts is None: diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 941a4956bf..b252a8110e 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -23,14 +23,14 @@ }, { "name": "abl", - "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz", - "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6", - "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6", + "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz", + "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee", + "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee", "size": 274432, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6" + "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee" }, { "name": "aop", @@ -56,28 +56,28 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz", - "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4", - "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4", + "url": "https://commadist.azureedge.net/agnosupdate/boot-3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a.img.xz", + "hash": "3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a", + "hash_raw": "3e26a0d330a1be1614a5c25cae238ca5d01c1be90802ad296c805c3bcbad0e7a", "size": 18515968, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0" + "ondevice_hash": "41d693d7e752c04210b4f8d68015d2367ee83e1cd54cc7b0aca3b79b4855e6b1" }, { "name": "system", - 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"tici": [ - AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), - AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), - AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111), - AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010), - - *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)), - *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)), - *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)), - *configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807)), - *configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B)), - ], "tizi": [ AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111), AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 35f9916c31..6a9b98af82 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -425,9 +425,6 @@ class Tici(HardwareBase): # pandad core affine_irq(3, "spi_geni") # SPI - if "tici" in self.get_device_type(): - affine_irq(3, "xhci-hcd:usb3") # aux panda USB (or potentially anything else on USB) - affine_irq(3, "xhci-hcd:usb1") # internal panda USB (also modem) try: pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip() subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid]) @@ -446,22 +443,20 @@ class Tici(HardwareBase): cmds = [] - if self.get_device_type() in ("tici", "tizi"): + if self.get_device_type() in ("tizi", ): # clear out old blue prime initial APN os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="') cmds += [ + # SIM hot swap + 'AT+QSIMDET=1,0', + 'AT+QSIMSTAT=1', + # 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', ] - if self.get_device_type() == "tizi": - # SIM hot swap, not routed on tici - cmds += [ - 'AT+QSIMDET=1,0', - 'AT+QSIMSTAT=1', - ] elif manufacturer == 'Cavli Inc.': cmds += [ 'AT^SIMSWAP=1', # use SIM slot, instead of internal eSIM diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py index 747278d1ec..bdbea591fb 100644 --- a/system/hardware/tici/pins.py +++ b/system/hardware/tici/pins.py @@ -1,5 +1,3 @@ -# TODO: these are also defined in a header - # GPIO pin definitions class GPIO: # both GPIO_STM_RST_N and GPIO_LTE_RST_N are misnamed, they are high to reset @@ -26,7 +24,4 @@ class GPIO: CAM2_RSTN = 12 # Sensor interrupts - BMX055_ACCEL_INT = 21 - BMX055_GYRO_INT = 23 - BMX055_MAGN_INT = 87 LSM_INT = 84 diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index db0fab884c..46b45460b5 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -32,8 +32,8 @@ class Proc: PROCS = [ Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), - Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']), - Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']), + Proc(['modeld'], 1.24, atol=0.2, msgs=['modelV2']), + Proc(['dmonitoringmodeld'], 0.7, msgs=['driverStateV2']), Proc(['encoderd'], 0.23, msgs=[]), ] diff --git a/system/ui/lib/networkmanager.py b/system/ui/lib/networkmanager.py new file mode 100644 index 0000000000..07b5d42f4b --- /dev/null +++ b/system/ui/lib/networkmanager.py @@ -0,0 +1,44 @@ +from enum import IntEnum + + +# NetworkManager device states +class NMDeviceState(IntEnum): + UNKNOWN = 0 + DISCONNECTED = 30 + PREPARE = 40 + STATE_CONFIG = 50 + NEED_AUTH = 60 + IP_CONFIG = 70 + ACTIVATED = 100 + DEACTIVATING = 110 + + +# NetworkManager constants +NM = "org.freedesktop.NetworkManager" +NM_PATH = '/org/freedesktop/NetworkManager' +NM_IFACE = 'org.freedesktop.NetworkManager' +NM_ACCESS_POINT_IFACE = 'org.freedesktop.NetworkManager.AccessPoint' +NM_SETTINGS_PATH = '/org/freedesktop/NetworkManager/Settings' +NM_SETTINGS_IFACE = 'org.freedesktop.NetworkManager.Settings' +NM_CONNECTION_IFACE = 'org.freedesktop.NetworkManager.Settings.Connection' +NM_WIRELESS_IFACE = 'org.freedesktop.NetworkManager.Device.Wireless' +NM_PROPERTIES_IFACE = 'org.freedesktop.DBus.Properties' +NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device" + +NM_DEVICE_TYPE_WIFI = 2 +NM_DEVICE_TYPE_MODEM = 8 +NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8 +NM_DEVICE_STATE_REASON_NEW_ACTIVATION = 60 + +# https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApFlags +NM_802_11_AP_FLAGS_NONE = 0x0 +NM_802_11_AP_FLAGS_PRIVACY = 0x1 +NM_802_11_AP_FLAGS_WPS = 0x2 + +# https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApSecurityFlags +NM_802_11_AP_SEC_PAIR_WEP40 = 0x00000001 +NM_802_11_AP_SEC_PAIR_WEP104 = 0x00000002 +NM_802_11_AP_SEC_GROUP_WEP40 = 0x00000010 +NM_802_11_AP_SEC_GROUP_WEP104 = 0x00000020 +NM_802_11_AP_SEC_KEY_MGMT_PSK = 0x00000100 +NM_802_11_AP_SEC_KEY_MGMT_802_1X = 0x00000200 diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index 4cb741bc95..af9ae943ea 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -1,52 +1,35 @@ -import asyncio -import concurrent.futures -import copy +import atexit import threading import time import uuid from collections.abc import Callable from dataclasses import dataclass from enum import IntEnum -from typing import TypeVar - -from dbus_next.aio import MessageBus -from dbus_next import BusType, Variant, Message -from dbus_next.errors import DBusError -from dbus_next.constants import MessageType - -try: - from openpilot.common.params import Params -except ImportError: - # Params/Cythonized modules are not available in zipapp - Params = None -from openpilot.common.swaglog import cloudlog - -T = TypeVar("T") +from typing import Any -# NetworkManager constants -NM = "org.freedesktop.NetworkManager" -NM_PATH = '/org/freedesktop/NetworkManager' -NM_IFACE = 'org.freedesktop.NetworkManager' -NM_SETTINGS_PATH = '/org/freedesktop/NetworkManager/Settings' -NM_SETTINGS_IFACE = 'org.freedesktop.NetworkManager.Settings' -NM_CONNECTION_IFACE = 'org.freedesktop.NetworkManager.Settings.Connection' -NM_WIRELESS_IFACE = 'org.freedesktop.NetworkManager.Device.Wireless' -NM_PROPERTIES_IFACE = 'org.freedesktop.DBus.Properties' -NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device" +from jeepney import DBusAddress, new_method_call +from jeepney.bus_messages import MatchRule, message_bus +from jeepney.io.blocking import open_dbus_connection as open_dbus_connection_blocking +from jeepney.io.threading import DBusRouter, open_dbus_connection as open_dbus_connection_threading +from jeepney.low_level import MessageType +from jeepney.wrappers import Properties -NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8 +from openpilot.common.swaglog import cloudlog +from openpilot.system.ui.lib.networkmanager import (NM, NM_WIRELESS_IFACE, NM_802_11_AP_SEC_PAIR_WEP40, + NM_802_11_AP_SEC_PAIR_WEP104, NM_802_11_AP_SEC_GROUP_WEP40, + NM_802_11_AP_SEC_GROUP_WEP104, NM_802_11_AP_SEC_KEY_MGMT_PSK, + NM_802_11_AP_SEC_KEY_MGMT_802_1X, NM_802_11_AP_FLAGS_NONE, + NM_802_11_AP_FLAGS_PRIVACY, NM_802_11_AP_FLAGS_WPS, + NM_PATH, NM_IFACE, NM_ACCESS_POINT_IFACE, NM_SETTINGS_PATH, + NM_SETTINGS_IFACE, NM_CONNECTION_IFACE, NM_DEVICE_IFACE, + NM_DEVICE_TYPE_WIFI, NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT, + NM_DEVICE_STATE_REASON_NEW_ACTIVATION, + NMDeviceState) TETHERING_IP_ADDRESS = "192.168.43.1" DEFAULT_TETHERING_PASSWORD = "swagswagcomma" - - -# NetworkManager device states -class NMDeviceState(IntEnum): - DISCONNECTED = 30 - PREPARE = 40 - NEED_AUTH = 60 - IP_CONFIG = 70 - ACTIVATED = 100 +SIGNAL_QUEUE_SIZE = 10 +SCAN_PERIOD_SECONDS = 10 class SecurityType(IntEnum): @@ -57,673 +40,387 @@ class SecurityType(IntEnum): UNSUPPORTED = 4 -@dataclass -class NetworkInfo: +def get_security_type(flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType: + wpa_props = wpa_flags | rsn_flags + + # obtained by looking at flags of networks in the office as reported by an Android phone + supports_wpa = (NM_802_11_AP_SEC_PAIR_WEP40 | NM_802_11_AP_SEC_PAIR_WEP104 | NM_802_11_AP_SEC_GROUP_WEP40 | + NM_802_11_AP_SEC_GROUP_WEP104 | NM_802_11_AP_SEC_KEY_MGMT_PSK) + + if (flags == NM_802_11_AP_FLAGS_NONE) or ((flags & NM_802_11_AP_FLAGS_WPS) and not (wpa_props & supports_wpa)): + return SecurityType.OPEN + elif (flags & NM_802_11_AP_FLAGS_PRIVACY) and (wpa_props & supports_wpa) and not (wpa_props & NM_802_11_AP_SEC_KEY_MGMT_802_1X): + return SecurityType.WPA + else: + cloudlog.warning(f"Unsupported network! flags: {flags}, wpa_flags: {wpa_flags}, rsn_flags: {rsn_flags}") + return SecurityType.UNSUPPORTED + + +@dataclass(frozen=True) +class Network: ssid: str strength: int is_connected: bool security_type: SecurityType - path: str - bssid: str - is_saved: bool = False - # saved_path: str + is_saved: bool + + @classmethod + def from_dbus(cls, ssid: str, aps: list["AccessPoint"], is_saved: bool) -> "Network": + # we only want to show the strongest AP for each Network/SSID + strongest_ap = max(aps, key=lambda ap: ap.strength) + is_connected = any(ap.is_connected for ap in aps) + security_type = get_security_type(strongest_ap.flags, strongest_ap.wpa_flags, strongest_ap.rsn_flags) + + return cls( + ssid=ssid, + strength=strongest_ap.strength, + is_connected=is_connected and is_saved, + security_type=security_type, + is_saved=is_saved, + ) -@dataclass -class WifiManagerCallbacks: - need_auth: Callable[[str], None] | None = None - activated: Callable[[], None] | None = None - forgotten: Callable[[str], None] | None = None - networks_updated: Callable[[list[NetworkInfo]], None] | None = None - connection_failed: Callable[[str, str], None] | None = None # Added for error feedback +@dataclass(frozen=True) +class AccessPoint: + ssid: str + bssid: str + strength: int + is_connected: bool + flags: int + wpa_flags: int + rsn_flags: int + ap_path: str + + @classmethod + def from_dbus(cls, ap_props: dict[str, tuple[str, Any]], ap_path: str, active_ap_path: str) -> "AccessPoint": + ssid = bytes(ap_props['Ssid'][1]).decode("utf-8", "replace") + bssid = str(ap_props['HwAddress'][1]) + strength = int(ap_props['Strength'][1]) + flags = int(ap_props['Flags'][1]) + wpa_flags = int(ap_props['WpaFlags'][1]) + rsn_flags = int(ap_props['RsnFlags'][1]) + + return cls( + ssid=ssid, + bssid=bssid, + strength=strength, + is_connected=ap_path == active_ap_path, + flags=flags, + wpa_flags=wpa_flags, + rsn_flags=rsn_flags, + ap_path=ap_path, + ) class WifiManager: - def __init__(self, callbacks): - self.callbacks: WifiManagerCallbacks = callbacks - self.networks: list[NetworkInfo] = [] - self.bus: MessageBus = None - self.device_path: str = "" - self.device_proxy = None - self.saved_connections: dict[str, str] = {} - self.active_ap_path: str = "" - self.scan_task: asyncio.Task | None = None - # Set tethering ssid as "weedle" + first 4 characters of a dongle id - self._tethering_ssid = "weedle" - if Params is not None: - dongle_id = Params().get("DongleId") - if dongle_id: - self._tethering_ssid += "-" + dongle_id[:4] - self.running: bool = True - self._current_connection_ssid: str | None = None - - async def connect(self) -> None: - """Connect to the DBus system bus.""" - try: - self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect() - while not await self._find_wifi_device(): - await asyncio.sleep(1) - - await self._setup_signals(self.device_path) - self.active_ap_path = await self.get_active_access_point() - await self.add_tethering_connection(self._tethering_ssid, DEFAULT_TETHERING_PASSWORD) - self.saved_connections = await self._get_saved_connections() - self.scan_task = asyncio.create_task(self._periodic_scan()) - except DBusError as e: - cloudlog.error(f"Failed to connect to DBus: {e}") - raise - except Exception as e: - cloudlog.error(f"Unexpected error during connect: {e}") - raise - - async def shutdown(self) -> None: - self.running = False - if self.scan_task: - self.scan_task.cancel() - try: - await self.scan_task - except asyncio.CancelledError: - pass - if self.bus: - self.bus.disconnect() - - async def _request_scan(self) -> None: - try: - interface = self.device_proxy.get_interface(NM_WIRELESS_IFACE) - await interface.call_request_scan({}) - except DBusError as e: - cloudlog.warning(f"Scan request failed: {str(e)}") + def __init__(self): + self._networks = [] # a network can be comprised of multiple APs + self._active = True # used to not run when not in settings + self._exit = False - async def get_active_access_point(self): + # DBus connections try: - props_iface = self.device_proxy.get_interface(NM_PROPERTIES_IFACE) - ap_path = await props_iface.call_get(NM_WIRELESS_IFACE, 'ActiveAccessPoint') - return ap_path.value - except DBusError as e: - cloudlog.error(f"Error fetching active access point: {str(e)}") - return '' - - async def forget_connection(self, ssid: str) -> bool: - path = self.saved_connections.get(ssid) - if not path: - return False + self._router_main = DBusRouter(open_dbus_connection_threading(bus="SYSTEM")) # used by scanner / general method calls + self._conn_monitor = open_dbus_connection_blocking(bus="SYSTEM") # used by state monitor thread + self._nm = DBusAddress(NM_PATH, bus_name=NM, interface=NM_IFACE) + except FileNotFoundError: + cloudlog.exception("Failed to connect to system D-Bus") + self._exit = True + + # Store wifi device path + self._wifi_device: str | None = None + + # State + self._connecting_to_ssid: str = "" + self._last_network_update: float = 0.0 + self._callback_queue: list[Callable] = [] + + # Callbacks + self._need_auth: Callable[[str], None] | None = None + self._activated: Callable[[], None] | None = None + self._forgotten: Callable[[], None] | None = None + self._networks_updated: Callable[[list[Network]], None] | None = None + self._disconnected: Callable[[], None] | None = None + + self._lock = threading.Lock() + + self._scan_thread = threading.Thread(target=self._network_scanner, daemon=True) + self._scan_thread.start() + + self._state_thread = threading.Thread(target=self._monitor_state, daemon=True) + self._state_thread.start() + + atexit.register(self.stop) + + def set_callbacks(self, need_auth: Callable[[str], None], + activated: Callable[[], None] | None, + forgotten: Callable[[], None], + networks_updated: Callable[[list[Network]], None], + disconnected: Callable[[], None]): + self._need_auth = need_auth + self._activated = activated + self._forgotten = forgotten + self._networks_updated = networks_updated + self._disconnected = disconnected + + def _enqueue_callback(self, cb: Callable, *args): + self._callback_queue.append(lambda: cb(*args)) + + def process_callbacks(self): + # Call from UI thread to run any pending callbacks + to_run, self._callback_queue = self._callback_queue, [] + for cb in to_run: + cb() + + def set_active(self, active: bool): + self._active = active + + # Scan immediately if we haven't scanned in a while + if active and time.monotonic() - self._last_network_update > SCAN_PERIOD_SECONDS / 2: + self._last_network_update = 0.0 + + def _monitor_state(self): + device_path = self._wait_for_wifi_device() + if device_path is None: + return - try: - nm_iface = await self._get_interface(NM, path, NM_CONNECTION_IFACE) - await nm_iface.call_delete() + rule = MatchRule( + type="signal", + interface=NM_DEVICE_IFACE, + member="StateChanged", + path=device_path, + ) + + # Filter for StateChanged signal + self._conn_monitor.send_and_get_reply(message_bus.AddMatch(rule)) - if self._current_connection_ssid == ssid: - self._current_connection_ssid = None + with self._conn_monitor.filter(rule, bufsize=SIGNAL_QUEUE_SIZE) as q: + while not self._exit: + if not self._active: + time.sleep(1) + continue - if ssid in self.saved_connections: - del self.saved_connections[ssid] + # Block until a matching signal arrives + try: + msg = self._conn_monitor.recv_until_filtered(q, timeout=1) + except TimeoutError: + continue - for network in self.networks: - if network.ssid == ssid: - network.is_saved = False - network.is_connected = False + new_state, previous_state, change_reason = msg.body + + # BAD PASSWORD + if new_state == NMDeviceState.NEED_AUTH and change_reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and len(self._connecting_to_ssid): + self.forget_connection(self._connecting_to_ssid, block=True) + if self._need_auth is not None: + self._enqueue_callback(self._need_auth, self._connecting_to_ssid) + self._connecting_to_ssid = "" + + elif new_state == NMDeviceState.ACTIVATED: + if self._activated is not None: + self._update_networks() + self._enqueue_callback(self._activated) + self._connecting_to_ssid = "" + + elif new_state == NMDeviceState.DISCONNECTED and change_reason != NM_DEVICE_STATE_REASON_NEW_ACTIVATION: + self._connecting_to_ssid = "" + if self._disconnected is not None: + self._enqueue_callback(self._disconnected) + + def _network_scanner(self): + self._wait_for_wifi_device() + + while not self._exit: + if self._active: + if time.monotonic() - self._last_network_update > SCAN_PERIOD_SECONDS: + # Scan for networks every 10 seconds + # TODO: should update when scan is complete (PropertiesChanged), but this is more than good enough for now + self._update_networks() + self._request_scan() + self._last_network_update = time.monotonic() + time.sleep(1 / 2.) + + def _wait_for_wifi_device(self) -> str | None: + with self._lock: + device_path: str | None = None + while not self._exit: + device_path = self._get_wifi_device() + if device_path is not None: break + time.sleep(1) + return device_path - # Notify UI of forgotten connection - if self.callbacks.networks_updated: - self.callbacks.networks_updated(copy.deepcopy(self.networks)) + def _get_wifi_device(self) -> str | None: + if self._wifi_device is not None: + return self._wifi_device - return True - except DBusError as e: - cloudlog.error(f"Failed to delete connection for SSID: {ssid}. Error: {e}") - return False + device_paths = self._router_main.send_and_get_reply(new_method_call(self._nm, 'GetDevices')).body[0] + for device_path in device_paths: + dev_addr = DBusAddress(device_path, bus_name=NM, interface=NM_DEVICE_IFACE) + dev_type = self._router_main.send_and_get_reply(Properties(dev_addr).get('DeviceType')).body[0][1] - async def activate_connection(self, ssid: str) -> bool: - connection_path = self.saved_connections.get(ssid) - if not connection_path: - return False - try: - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - await nm_iface.call_activate_connection(connection_path, self.device_path, "/") - return True - except DBusError as e: - cloudlog.error(f"Failed to activate connection {ssid}: {str(e)}") - return False - - async def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False) -> None: - """Connect to a selected Wi-Fi network.""" - try: - self._current_connection_ssid = ssid - - if ssid in self.saved_connections: - # Forget old connection if new password provided - if password: - await self.forget_connection(ssid) - await asyncio.sleep(0.2) # NetworkManager delay - else: - # Just activate existing connection - await self.activate_connection(ssid) - return + if dev_type == NM_DEVICE_TYPE_WIFI: + self._wifi_device = device_path + break - connection = { - 'connection': { - 'type': Variant('s', '802-11-wireless'), - 'uuid': Variant('s', str(uuid.uuid4())), - 'id': Variant('s', f'openpilot connection {ssid}'), - 'autoconnect-retries': Variant('i', 0), - }, - '802-11-wireless': { - 'ssid': Variant('ay', ssid.encode('utf-8')), - 'hidden': Variant('b', is_hidden), - 'mode': Variant('s', 'infrastructure'), - }, - 'ipv4': { - 'method': Variant('s', 'auto'), - 'dns-priority': Variant('i', 600), - }, - 'ipv6': {'method': Variant('s', 'ignore')}, - } + return self._wifi_device - if bssid: - connection['802-11-wireless']['bssid'] = Variant('ay', bssid.encode('utf-8')) + def _get_connections(self) -> dict[str, str]: + settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE) + known_connections = self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0] - if password: - connection['802-11-wireless-security'] = { - 'key-mgmt': Variant('s', 'wpa-psk'), - 'auth-alg': Variant('s', 'open'), - 'psk': Variant('s', password), - } + conns: dict[str, str] = {} + for conn_path in known_connections: + conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) + reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, "GetSettings")) - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - await nm_iface.call_add_and_activate_connection(connection, self.device_path, "/") - except Exception as e: - self._current_connection_ssid = None - cloudlog.error(f"Error connecting to network: {e}") - # Notify UI of failure - if self.callbacks.connection_failed: - self.callbacks.connection_failed(ssid, str(e)) - - def is_saved(self, ssid: str) -> bool: - return ssid in self.saved_connections - - async def _find_wifi_device(self) -> bool: - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - devices = await nm_iface.get_devices() - - for device_path in devices: - device = await self.bus.introspect(NM, device_path) - device_proxy = self.bus.get_proxy_object(NM, device_path, device) - device_interface = device_proxy.get_interface(NM_DEVICE_IFACE) - device_type = await device_interface.get_device_type() # type: ignore[attr-defined] - if device_type == 2: # Wi-Fi device - self.device_path = device_path - self.device_proxy = device_proxy - return True - - return False - - async def add_tethering_connection(self, ssid: str, password: str = "12345678") -> bool: - """Create a WiFi tethering connection.""" - if len(password) < 8: - print("Tethering password must be at least 8 characters") - return False + # ignore connections removed during iteration (need auth, etc.) + if reply.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to get connection properties for {conn_path}") + continue - try: - # First, check if a hotspot connection already exists - settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) - connection_paths = await settings_iface.call_list_connections() + settings = reply.body[0] + if "802-11-wireless" in settings: + ssid = settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace") + if ssid != "": + conns[ssid] = conn_path + return conns - # Look for an existing hotspot connection - for path in connection_paths: - try: - settings = await self._get_connection_settings(path) - conn_type = settings.get('connection', {}).get('type', Variant('s', '')).value - wifi_mode = settings.get('802-11-wireless', {}).get('mode', Variant('s', '')).value - - if conn_type == '802-11-wireless' and wifi_mode == 'ap': - # Extract the SSID to check - connection_ssid = self._extract_ssid(settings) - if connection_ssid == ssid: - return True - except DBusError: - continue + def connect_to_network(self, ssid: str, password: str): + def worker(): + # Clear all connections that may already exist to the network we are connecting to + self._connecting_to_ssid = ssid + self.forget_connection(ssid, block=True) + + is_hidden = False connection = { 'connection': { - 'id': Variant('s', 'Hotspot'), - 'uuid': Variant('s', str(uuid.uuid4())), - 'type': Variant('s', '802-11-wireless'), - 'interface-name': Variant('s', 'wlan0'), - 'autoconnect': Variant('b', False), + 'type': ('s', '802-11-wireless'), + 'uuid': ('s', str(uuid.uuid4())), + 'id': ('s', f'openpilot connection {ssid}'), + 'autoconnect-retries': ('i', 0), }, '802-11-wireless': { - 'band': Variant('s', 'bg'), - 'mode': Variant('s', 'ap'), - 'ssid': Variant('ay', ssid.encode('utf-8')), - }, - '802-11-wireless-security': { - 'group': Variant('as', ['ccmp']), - 'key-mgmt': Variant('s', 'wpa-psk'), - 'pairwise': Variant('as', ['ccmp']), - 'proto': Variant('as', ['rsn']), - 'psk': Variant('s', password), + 'ssid': ('ay', ssid.encode("utf-8")), + 'hidden': ('b', is_hidden), + 'mode': ('s', 'infrastructure'), }, 'ipv4': { - 'method': Variant('s', 'shared'), - 'address-data': Variant('aa{sv}', [{'address': Variant('s', TETHERING_IP_ADDRESS), 'prefix': Variant('u', 24)}]), - 'gateway': Variant('s', TETHERING_IP_ADDRESS), - 'never-default': Variant('b', True), - }, - 'ipv6': { - 'method': Variant('s', 'ignore'), + 'method': ('s', 'auto'), + 'dns-priority': ('i', 600), }, + 'ipv6': {'method': ('s', 'ignore')}, } - settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) - new_connection = await settings_iface.call_add_connection(connection) - print(f"Added tethering connection with path: {new_connection}") - return True - except DBusError as e: - print(f"Failed to add tethering connection: {e}") - return False - except Exception as e: - print(f"Unexpected error adding tethering connection: {e}") - return False - - async def get_tethering_password(self) -> str: - """Get the current tethering password.""" - try: - hotspot_path = self.saved_connections.get(self._tethering_ssid) - if hotspot_path: - conn_iface = await self._get_interface(NM, hotspot_path, NM_CONNECTION_IFACE) - secrets = await conn_iface.call_get_secrets('802-11-wireless-security') - if secrets and '802-11-wireless-security' in secrets: - psk = secrets.get('802-11-wireless-security', {}).get('psk', Variant('s', '')).value - return str(psk) if psk is not None else "" - return "" - except DBusError as e: - print(f"Failed to get tethering password: {e}") - return "" - except Exception as e: - print(f"Unexpected error getting tethering password: {e}") - return "" - - async def set_tethering_password(self, password: str) -> bool: - """Set the tethering password.""" - if len(password) < 8: - cloudlog.error("Tethering password must be at least 8 characters") - return False - - try: - hotspot_path = self.saved_connections.get(self._tethering_ssid) - if not hotspot_path: - print("No hotspot connection found") - return False - - # Update the connection settings with new password - settings = await self._get_connection_settings(hotspot_path) - if '802-11-wireless-security' not in settings: - settings['802-11-wireless-security'] = {} - settings['802-11-wireless-security']['psk'] = Variant('s', password) - - # Apply changes - conn_iface = await self._get_interface(NM, hotspot_path, NM_CONNECTION_IFACE) - await conn_iface.call_update(settings) - - # Check if connection is active and restart if needed - is_active = False - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - active_connections = await nm_iface.get_active_connections() - - for conn_path in active_connections: - props_iface = await self._get_interface(NM, conn_path, NM_PROPERTIES_IFACE) - conn_id_path = await props_iface.call_get('org.freedesktop.NetworkManager.Connection.Active', 'Connection') - if conn_id_path.value == hotspot_path: - is_active = True - await nm_iface.call_deactivate_connection(conn_path) - break - - if is_active: - await nm_iface.call_activate_connection(hotspot_path, self.device_path, "/") - - print("Tethering password updated successfully") - return True - except DBusError as e: - print(f"Failed to set tethering password: {e}") - return False - except Exception as e: - print(f"Unexpected error setting tethering password: {e}") - return False - - async def is_tethering_active(self) -> bool: - """Check if tethering is active for the specified SSID.""" - try: - hotspot_path = self.saved_connections.get(self._tethering_ssid) - if not hotspot_path: - return False - - nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE) - active_connections = await nm_iface.get_active_connections() - - for conn_path in active_connections: - props_iface = await self._get_interface(NM, conn_path, NM_PROPERTIES_IFACE) - conn_id_path = await props_iface.call_get('org.freedesktop.NetworkManager.Connection.Active', 'Connection') - - if conn_id_path.value == hotspot_path: - return True - - return False - except Exception: - return False - - async def _periodic_scan(self): - while self.running: - try: - await self._request_scan() - await asyncio.sleep(30) - except asyncio.CancelledError: - break - except DBusError as e: - cloudlog.error(f"Scan failed: {e}") - await asyncio.sleep(5) - - async def _setup_signals(self, device_path: str) -> None: - rules = [ - f"type='signal',interface='{NM_PROPERTIES_IFACE}',member='PropertiesChanged',path='{device_path}'", - f"type='signal',interface='{NM_DEVICE_IFACE}',member='StateChanged',path='{device_path}'", - f"type='signal',interface='{NM_SETTINGS_IFACE}',member='NewConnection',path='{NM_SETTINGS_PATH}'", - f"type='signal',interface='{NM_SETTINGS_IFACE}',member='ConnectionRemoved',path='{NM_SETTINGS_PATH}'", - ] - for rule in rules: - await self._add_match_rule(rule) - - # Set up signal handlers - self.device_proxy.get_interface(NM_PROPERTIES_IFACE).on_properties_changed(self._on_properties_changed) - self.device_proxy.get_interface(NM_DEVICE_IFACE).on_state_changed(self._on_state_changed) - - settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) - settings_iface.on_new_connection(self._on_new_connection) - settings_iface.on_connection_removed(self._on_connection_removed) - - def _on_properties_changed(self, interface: str, changed: dict, invalidated: list): - if interface == NM_WIRELESS_IFACE and 'LastScan' in changed: - asyncio.create_task(self._refresh_networks()) - elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed: - new_ap_path = changed["ActiveAccessPoint"].value - if self.active_ap_path != new_ap_path: - self.active_ap_path = new_ap_path - - def _on_state_changed(self, new_state: int, old_state: int, reason: int): - if new_state == NMDeviceState.ACTIVATED: - if self.callbacks.activated: - self.callbacks.activated() - self._current_connection_ssid = None - asyncio.create_task(self._refresh_networks()) - elif new_state in (NMDeviceState.DISCONNECTED, NMDeviceState.NEED_AUTH): - for network in self.networks: - network.is_connected = False - - # BAD PASSWORD - if new_state == NMDeviceState.NEED_AUTH and reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and self.callbacks.need_auth: - if self._current_connection_ssid: - asyncio.create_task(self.forget_connection(self._current_connection_ssid)) - self.callbacks.need_auth(self._current_connection_ssid) - else: - # Try to find the network from active_ap_path - for network in self.networks: - if network.path == self.active_ap_path: - asyncio.create_task(self.forget_connection(network.ssid)) - self.callbacks.need_auth(network.ssid) - break - else: - # Couldn't identify the network that needs auth - cloudlog.error("Network needs authentication but couldn't identify which one") - - def _on_new_connection(self, path: str) -> None: - """Callback for NewConnection signal.""" - asyncio.create_task(self._add_saved_connection(path)) - - def _on_connection_removed(self, path: str) -> None: - """Callback for ConnectionRemoved signal.""" - for ssid, p in list(self.saved_connections.items()): - if path == p: - del self.saved_connections[ssid] - - if self.callbacks.forgotten: - self.callbacks.forgotten(ssid) - break - - async def _add_saved_connection(self, path: str) -> None: - """Add a new saved connection to the dictionary.""" - try: - settings = await self._get_connection_settings(path) - if ssid := self._extract_ssid(settings): - self.saved_connections[ssid] = path - except DBusError as e: - cloudlog.error(f"Failed to add connection {path}: {e}") - - def _extract_ssid(self, settings: dict) -> str | None: - """Extract SSID from connection settings.""" - ssid_variant = settings.get('802-11-wireless', {}).get('ssid', Variant('ay', b'')).value - return bytes(ssid_variant).decode('utf-8') if ssid_variant else None - - async def _add_match_rule(self, rule): - """Add a match rule on the bus.""" - reply = await self.bus.call( - Message( - message_type=MessageType.METHOD_CALL, - destination='org.freedesktop.DBus', - interface="org.freedesktop.DBus", - path='/org/freedesktop/DBus', - member='AddMatch', - signature='s', - body=[rule], - ) - ) - - assert reply.message_type == MessageType.METHOD_RETURN - return reply - - async def _refresh_networks(self): - """Get a list of available networks via NetworkManager.""" - wifi_iface = self.device_proxy.get_interface(NM_WIRELESS_IFACE) - access_points = await wifi_iface.get_access_points() - self.active_ap_path = await self.get_active_access_point() - network_dict = {} - for ap_path in access_points: - try: - props_iface = await self._get_interface(NM, ap_path, NM_PROPERTIES_IFACE) - properties = await props_iface.call_get_all('org.freedesktop.NetworkManager.AccessPoint') - ssid_variant = properties['Ssid'].value - ssid = bytes(ssid_variant).decode('utf-8') - if not ssid: - continue - - bssid = properties.get('HwAddress', Variant('s', '')).value - strength = properties['Strength'].value - flags = properties['Flags'].value - wpa_flags = properties['WpaFlags'].value - rsn_flags = properties['RsnFlags'].value - - # May be multiple access points for each SSID. Use first for ssid - # and security type, then update the rest using all APs - if ssid not in network_dict: - network_dict[ssid] = NetworkInfo( - ssid=ssid, - strength=0, - security_type=self._get_security_type(flags, wpa_flags, rsn_flags), - path="", - bssid="", - is_connected=False, - is_saved=ssid in self.saved_connections - ) - - existing_network = network_dict.get(ssid) - if existing_network.strength < strength: - existing_network.strength = strength - existing_network.path = ap_path - existing_network.bssid = bssid - if self.active_ap_path == ap_path: - existing_network.is_connected = self._current_connection_ssid != ssid - - except DBusError as e: - cloudlog.error(f"Error fetching networks: {e}") - except Exception as e: - cloudlog.error({e}) - - self.networks = sorted( - network_dict.values(), - key=lambda network: ( - not network.is_connected, - -network.strength, # Higher signal strength first - network.ssid.lower(), - ), - ) - - if self.callbacks.networks_updated: - self.callbacks.networks_updated(copy.deepcopy(self.networks)) - - async def _get_connection_settings(self, path): - """Fetch connection settings for a specific connection path.""" - try: - settings = await self._get_interface(NM, path, NM_CONNECTION_IFACE) - return await settings.call_get_settings() - except DBusError as e: - cloudlog.error(f"Failed to get settings for {path}: {str(e)}") - return {} - - async def _process_chunk(self, paths_chunk): - """Process a chunk of connection paths.""" - tasks = [self._get_connection_settings(path) for path in paths_chunk] - return await asyncio.gather(*tasks, return_exceptions=True) - - async def _get_saved_connections(self) -> dict[str, str]: - try: - settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE) - connection_paths = await settings_iface.call_list_connections() - saved_ssids: dict[str, str] = {} - batch_size = 20 - for i in range(0, len(connection_paths), batch_size): - chunk = connection_paths[i : i + batch_size] - results = await self._process_chunk(chunk) - for path, config in zip(chunk, results, strict=True): - if isinstance(config, dict) and '802-11-wireless' in config: - if ssid := self._extract_ssid(config): - saved_ssids[ssid] = path - return saved_ssids - except DBusError as e: - cloudlog.error(f"Error fetching saved connections: {str(e)}") - return {} - - async def _get_interface(self, bus_name: str, path: str, name: str): - introspection = await self.bus.introspect(bus_name, path) - proxy = self.bus.get_proxy_object(bus_name, path, introspection) - return proxy.get_interface(name) - - def _get_security_type(self, flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType: - """Determine the security type based on flags.""" - if flags == 0 and not (wpa_flags or rsn_flags): - return SecurityType.OPEN - if rsn_flags & 0x200: # SAE (WPA3 Personal) - # TODO: support WPA3 - return SecurityType.UNSUPPORTED - if rsn_flags: # RSN indicates WPA2 or higher - return SecurityType.WPA2 - if wpa_flags: # WPA flags indicate WPA - return SecurityType.WPA - return SecurityType.UNSUPPORTED - - -class WifiManagerWrapper: - def __init__(self): - self._manager: WifiManager | None = None - self._callbacks: WifiManagerCallbacks = WifiManagerCallbacks() - - self._thread = threading.Thread(target=self._run, daemon=True) - self._loop: asyncio.EventLoop | None = None - self._running = False + if password: + connection['802-11-wireless-security'] = { + 'key-mgmt': ('s', 'wpa-psk'), + 'auth-alg': ('s', 'open'), + 'psk': ('s', password), + } - def set_callbacks(self, callbacks: WifiManagerCallbacks): - self._callbacks = callbacks + settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE) + self._router_main.send_and_get_reply(new_method_call(settings_addr, 'AddConnection', 'a{sa{sv}}', (connection,))) + self.activate_connection(ssid, block=True) + + threading.Thread(target=worker, daemon=True).start() + + def forget_connection(self, ssid: str, block: bool = False): + def worker(): + conn_path = self._get_connections().get(ssid, None) + if conn_path is not None: + conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE) + self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Delete')) + + if self._forgotten is not None: + self._update_networks() + self._enqueue_callback(self._forgotten) + + if block: + worker() + else: + threading.Thread(target=worker, daemon=True).start() + + def activate_connection(self, ssid: str, block: bool = False): + def worker(): + conn_path = self._get_connections().get(ssid, None) + if conn_path is not None: + if self._wifi_device is None: + cloudlog.warning("No WiFi device found") + return - def start(self) -> None: - if not self._running: - self._thread.start() - while self._thread is not None and not self._running: - time.sleep(0.1) + self._connecting_to_ssid = ssid + self._router_main.send(new_method_call(self._nm, 'ActivateConnection', 'ooo', + (conn_path, self._wifi_device, "/"))) - def _run(self): - self._loop = asyncio.new_event_loop() - asyncio.set_event_loop(self._loop) + if block: + worker() + else: + threading.Thread(target=worker, daemon=True).start() - try: - self._manager = WifiManager(self._callbacks) - self._running = True - self._loop.run_forever() - except Exception as e: - cloudlog.error(f"Error in WifiManagerWrapper thread: {e}") - finally: - if self._loop.is_running(): - self._loop.stop() - self._running = False - - def shutdown(self) -> None: - if self._running: - if self._manager is not None and self._loop: - shutdown_future = asyncio.run_coroutine_threadsafe(self._manager.shutdown(), self._loop) - shutdown_future.result(timeout=3.0) - - if self._loop and self._loop.is_running(): - self._loop.call_soon_threadsafe(self._loop.stop) - if self._thread and self._thread.is_alive(): - self._thread.join(timeout=2.0) - self._running = False - - def is_saved(self, ssid: str) -> bool: - """Check if a network is saved.""" - return self._run_coroutine_sync(lambda manager: manager.is_saved(ssid), default=False) - - def connect(self): - """Connect to DBus and start Wi-Fi scanning.""" - if not self._manager: + def _request_scan(self): + if self._wifi_device is None: + cloudlog.warning("No WiFi device found") return - self._run_coroutine(self._manager.connect()) - def forget_connection(self, ssid: str): - """Forget a saved Wi-Fi connection.""" - if not self._manager: - return - self._run_coroutine(self._manager.forget_connection(ssid)) + wifi_addr = DBusAddress(self._wifi_device, bus_name=NM, interface=NM_WIRELESS_IFACE) + reply = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'RequestScan', 'a{sv}', ({},))) - def activate_connection(self, ssid: str): - """Activate an existing Wi-Fi connection.""" - if not self._manager: - return - self._run_coroutine(self._manager.activate_connection(ssid)) + if reply.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to request scan: {reply}") - def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False): - """Connect to a Wi-Fi network.""" - if not self._manager: - return - self._run_coroutine(self._manager.connect_to_network(ssid, password, bssid, is_hidden)) + def _update_networks(self): + with self._lock: + if self._wifi_device is None: + cloudlog.warning("No WiFi device found") + return - def _run_coroutine(self, coro): - """Run a coroutine in the async thread.""" - if not self._running or not self._loop: - cloudlog.error("WifiManager thread is not running") - return - asyncio.run_coroutine_threadsafe(coro, self._loop) + # returns '/' if no active AP + wifi_addr = DBusAddress(self._wifi_device, NM, interface=NM_WIRELESS_IFACE) + active_ap_path = self._router_main.send_and_get_reply(Properties(wifi_addr).get('ActiveAccessPoint')).body[0][1] + ap_paths = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'GetAllAccessPoints')).body[0] - def _run_coroutine_sync(self, func: Callable[[WifiManager], T], default: T) -> T: - """Run a function synchronously in the async thread.""" - if not self._running or not self._loop or not self._manager: - return default - future = concurrent.futures.Future[T]() + aps: dict[str, list[AccessPoint]] = {} - def wrapper(manager: WifiManager) -> None: - try: - future.set_result(func(manager)) - except Exception as e: - future.set_exception(e) + for ap_path in ap_paths: + ap_addr = DBusAddress(ap_path, NM, interface=NM_ACCESS_POINT_IFACE) + ap_props = self._router_main.send_and_get_reply(Properties(ap_addr).get_all()) - try: - self._loop.call_soon_threadsafe(wrapper, self._manager) - return future.result(timeout=1.0) - except Exception as e: - cloudlog.error(f"WifiManagerWrapper property access failed: {e}") - return default + # some APs have been seen dropping off during iteration + if ap_props.header.message_type == MessageType.error: + cloudlog.warning(f"Failed to get AP properties for {ap_path}") + continue + + try: + ap = AccessPoint.from_dbus(ap_props.body[0], ap_path, active_ap_path) + if ap.ssid == "": + continue + + if ap.ssid not in aps: + aps[ap.ssid] = [] + + aps[ap.ssid].append(ap) + except Exception: + # catch all for parsing errors + cloudlog.exception(f"Failed to parse AP properties for {ap_path}") + + known_connections = self._get_connections() + networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()] + networks.sort(key=lambda n: (-n.is_connected, -n.strength, n.ssid.lower())) + self._networks = networks + + if self._networks_updated is not None: + self._enqueue_callback(self._networks_updated, self._networks) + + def __del__(self): + self.stop() + + def stop(self): + if not self._exit: + self._exit = True + self._scan_thread.join() + self._state_thread.join() + + self._router_main.close() + self._router_main.conn.close() + self._conn_monitor.close() diff --git a/system/ui/reset.py b/system/ui/reset.py index b1bf5a6b6a..a5cf1731dc 100755 --- a/system/ui/reset.py +++ b/system/ui/reset.py @@ -13,7 +13,6 @@ from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.button import Button, ButtonStyle from openpilot.system.ui.widgets.label import gui_label, gui_text_box -NVME = "/dev/nvme0n1" USERDATA = "/dev/disk/by-partlabel/userdata" TIMEOUT = 3*60 @@ -49,10 +48,6 @@ class Reset(Widget): if PC: return - # Best effort to wipe NVME - os.system(f"sudo umount {NVME}") - os.system(f"yes | sudo mkfs.ext4 {NVME}") - # Removing data and formatting rm = os.system("sudo rm -rf /data/*") os.system(f"sudo umount {USERDATA}") diff --git a/system/ui/setup.py b/system/ui/setup.py index 800ca7662c..a985e783be 100755 --- a/system/ui/setup.py +++ b/system/ui/setup.py @@ -19,7 +19,7 @@ from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio from openpilot.system.ui.widgets.keyboard import Keyboard from openpilot.system.ui.widgets.label import Label, TextAlignment -from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper +from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManager NetworkType = log.DeviceState.NetworkType @@ -72,8 +72,7 @@ class Setup(Widget): self.download_url = "" self.download_progress = 0 self.download_thread = None - self.wifi_manager = WifiManagerWrapper() - self.wifi_ui = WifiManagerUI(self.wifi_manager) + self.wifi_ui = WifiManagerUI(WifiManager()) self.keyboard = Keyboard() self.selected_radio = None self.warning = gui_app.texture("icons/warning.png", 150, 150) diff --git a/system/ui/updater.py b/system/ui/updater.py index 31799d3628..b3cdc82cf5 100755 --- a/system/ui/updater.py +++ b/system/ui/updater.py @@ -7,7 +7,7 @@ from enum import IntEnum from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.application import gui_app, FontWeight -from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper +from openpilot.system.ui.lib.wifi_manager import WifiManager from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.button import gui_button, ButtonStyle from openpilot.system.ui.widgets.label import gui_text_box, gui_label @@ -43,8 +43,7 @@ class Updater(Widget): self.show_reboot_button = False self.process = None self.update_thread = None - self.wifi_manager = WifiManagerWrapper() - self.wifi_manager_ui = WifiManagerUI(self.wifi_manager) + self.wifi_manager_ui = WifiManagerUI(WifiManager()) def install_update(self): self.current_screen = Screen.PROGRESS diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index d45f48ac38..cca2cec7ad 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -129,3 +129,10 @@ class Widget(abc.ABC): def _handle_mouse_release(self, mouse_pos: MousePos) -> bool: """Optionally handle mouse release events.""" return False + + def show_event(self): + """Optionally handle show event. Parent must manually call this""" + + def hide_event(self): + """Optionally handle hide event. Parent must manually call this""" + diff --git a/system/ui/widgets/list_view.py b/system/ui/widgets/list_view.py index e871eef0a1..a8d81a8ba2 100644 --- a/system/ui/widgets/list_view.py +++ b/system/ui/widgets/list_view.py @@ -213,6 +213,7 @@ class ListItem(Widget): self.set_rect(rl.Rectangle(0, 0, ITEM_BASE_WIDTH, ITEM_BASE_HEIGHT)) self._font = gui_app.font(FontWeight.NORMAL) + self._icon_texture = gui_app.texture(os.path.join("icons", self.icon), ICON_SIZE, ICON_SIZE) if self.icon else None # Cached properties for performance self._prev_max_width: int = 0 @@ -261,8 +262,7 @@ class ListItem(Widget): if self.title: # Draw icon if present if self.icon: - icon_texture = gui_app.texture(os.path.join("icons", self.icon), ICON_SIZE, ICON_SIZE) - rl.draw_texture(icon_texture, int(content_x), int(self._rect.y + (ITEM_BASE_HEIGHT - icon_texture.width) // 2), rl.WHITE) + rl.draw_texture(self._icon_texture, int(content_x), int(self._rect.y + (ITEM_BASE_HEIGHT - self._icon_texture.width) // 2), rl.WHITE) text_x += ICON_SIZE + ITEM_PADDING # Draw main text diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py index 0bb759a919..3e6317a49c 100644 --- a/system/ui/widgets/network.py +++ b/system/ui/widgets/network.py @@ -1,12 +1,11 @@ from enum import IntEnum from functools import partial -from threading import Lock from typing import cast import pyray as rl from openpilot.system.ui.lib.application import gui_app from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel -from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType +from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.button import ButtonStyle, Button from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog @@ -36,52 +35,58 @@ class UIState(IntEnum): class WifiManagerUI(Widget): - def __init__(self, wifi_manager: WifiManagerWrapper): + def __init__(self, wifi_manager: WifiManager): super().__init__() + self.wifi_manager = wifi_manager self.state: UIState = UIState.IDLE - self._state_network: NetworkInfo | None = None # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING + self._state_network: Network | None = None # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING self._password_retry: bool = False # for NEEDS_AUTH self.btn_width: int = 200 self.scroll_panel = GuiScrollPanel() self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True) + self._load_icons() - self._networks: list[NetworkInfo] = [] + self._networks: list[Network] = [] self._networks_buttons: dict[str, Button] = {} self._forget_networks_buttons: dict[str, Button] = {} - self._lock = Lock() - self.wifi_manager = wifi_manager self._confirm_dialog = ConfirmDialog("", "Forget", "Cancel") - self.wifi_manager.set_callbacks( - WifiManagerCallbacks( - need_auth=self._on_need_auth, - activated=self._on_activated, - forgotten=self._on_forgotten, - networks_updated=self._on_network_updated, - connection_failed=self._on_connection_failed - ) - ) - self.wifi_manager.start() - self.wifi_manager.connect() + self.wifi_manager.set_callbacks(need_auth=self._on_need_auth, + activated=self._on_activated, + forgotten=self._on_forgotten, + networks_updated=self._on_network_updated, + disconnected=self._on_disconnected) + + def show_event(self): + # start/stop scanning when widget is visible + self.wifi_manager.set_active(True) + + def hide_event(self): + self.wifi_manager.set_active(False) + + def _load_icons(self): + for icon in STRENGTH_ICONS + ["icons/checkmark.png", "icons/circled_slash.png", "icons/lock_closed.png"]: + gui_app.texture(icon, ICON_SIZE, ICON_SIZE) def _render(self, rect: rl.Rectangle): - with self._lock: - if not self._networks: - gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) - return - - if self.state == UIState.NEEDS_AUTH and self._state_network: - self.keyboard.set_title("Wrong password" if self._password_retry else "Enter password", f"for {self._state_network.ssid}") - self.keyboard.reset() - gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(NetworkInfo, self._state_network), result)) - elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network: - self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{self._state_network.ssid}"?') - self._confirm_dialog.reset() - gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result)) - else: - self._draw_network_list(rect) - - def _on_password_entered(self, network: NetworkInfo, result: int): + self.wifi_manager.process_callbacks() + + if not self._networks: + gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER) + return + + if self.state == UIState.NEEDS_AUTH and self._state_network: + self.keyboard.set_title("Wrong password" if self._password_retry else "Enter password", f"for {self._state_network.ssid}") + self.keyboard.reset() + gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(Network, self._state_network), result)) + elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network: + self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{self._state_network.ssid}"?') + self._confirm_dialog.reset() + gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result)) + else: + self._draw_network_list(rect) + + def _on_password_entered(self, network: Network, result: int): if result == 1: password = self.keyboard.text self.keyboard.clear() @@ -116,7 +121,7 @@ class WifiManagerUI(Widget): rl.end_scissor_mode() - def _draw_network_item(self, rect, network: NetworkInfo, clicked: bool): + def _draw_network_item(self, rect, network: Network, clicked: bool): spacing = 50 ssid_rect = rl.Rectangle(rect.x, rect.y, rect.width - self.btn_width * 2, ITEM_HEIGHT) signal_icon_rect = rl.Rectangle(rect.x + rect.width - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE) @@ -169,10 +174,10 @@ class WifiManagerUI(Widget): self.state = UIState.SHOW_FORGET_CONFIRM self._state_network = network - def _draw_status_icon(self, rect, network: NetworkInfo): + def _draw_status_icon(self, rect, network: Network): """Draw the status icon based on network's connection state""" icon_file = None - if network.is_connected: + if network.is_connected and self.state != UIState.CONNECTING: icon_file = "icons/checkmark.png" elif network.security_type == SecurityType.UNSUPPORTED: icon_file = "icons/circled_slash.png" @@ -186,12 +191,12 @@ class WifiManagerUI(Widget): icon_rect = rl.Vector2(rect.x, rect.y + (ICON_SIZE - texture.height) / 2) rl.draw_texture_v(texture, icon_rect, rl.WHITE) - def _draw_signal_strength_icon(self, rect: rl.Rectangle, network: NetworkInfo): + def _draw_signal_strength_icon(self, rect: rl.Rectangle, network: Network): """Draw the Wi-Fi signal strength icon based on network's signal strength""" strength_level = max(0, min(3, round(network.strength / 33.0))) rl.draw_texture_v(gui_app.texture(STRENGTH_ICONS[strength_level], ICON_SIZE, ICON_SIZE), rl.Vector2(rect.x, rect.y), rl.WHITE) - def connect_to_network(self, network: NetworkInfo, password=''): + def connect_to_network(self, network: Network, password=''): self.state = UIState.CONNECTING self._state_network = network if network.is_saved and not password: @@ -199,54 +204,46 @@ class WifiManagerUI(Widget): else: self.wifi_manager.connect_to_network(network.ssid, password) - def forget_network(self, network: NetworkInfo): + def forget_network(self, network: Network): self.state = UIState.FORGETTING self._state_network = network - network.is_saved = False self.wifi_manager.forget_connection(network.ssid) - def _on_network_updated(self, networks: list[NetworkInfo]): - with self._lock: - self._networks = networks - for n in self._networks: - self._networks_buttons[n.ssid] = Button(n.ssid, partial(self._networks_buttons_callback, n), font_size=55, text_alignment=TextAlignment.LEFT, - button_style=ButtonStyle.NO_EFFECT) - self._forget_networks_buttons[n.ssid] = Button("Forget", partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI, - font_size=45) + def _on_network_updated(self, networks: list[Network]): + self._networks = networks + for n in self._networks: + self._networks_buttons[n.ssid] = Button(n.ssid, partial(self._networks_buttons_callback, n), font_size=55, text_alignment=TextAlignment.LEFT, + button_style=ButtonStyle.NO_EFFECT) + self._forget_networks_buttons[n.ssid] = Button("Forget", partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI, + font_size=45) def _on_need_auth(self, ssid): - with self._lock: - network = next((n for n in self._networks if n.ssid == ssid), None) - if network: - self.state = UIState.NEEDS_AUTH - self._state_network = network - self._password_retry = True + network = next((n for n in self._networks if n.ssid == ssid), None) + if network: + self.state = UIState.NEEDS_AUTH + self._state_network = network + self._password_retry = True def _on_activated(self): - with self._lock: - if self.state == UIState.CONNECTING: - self.state = UIState.IDLE + if self.state == UIState.CONNECTING: + self.state = UIState.IDLE - def _on_forgotten(self, ssid): - with self._lock: - if self.state == UIState.FORGETTING: - self.state = UIState.IDLE + def _on_forgotten(self): + if self.state == UIState.FORGETTING: + self.state = UIState.IDLE - def _on_connection_failed(self, ssid: str, error: str): - with self._lock: - if self.state == UIState.CONNECTING: - self.state = UIState.IDLE + def _on_disconnected(self): + if self.state == UIState.CONNECTING: + self.state = UIState.IDLE def main(): gui_app.init_window("Wi-Fi Manager") - wifi_manager = WifiManagerWrapper() - wifi_ui = WifiManagerUI(wifi_manager) + wifi_ui = WifiManagerUI(WifiManager()) for _ in gui_app.render(): wifi_ui.render(rl.Rectangle(50, 50, gui_app.width - 100, gui_app.height - 100)) - wifi_manager.shutdown() gui_app.close() diff --git a/system/updated/updated.py b/system/updated/updated.py index 11928bc24c..a80a663ec9 100755 --- a/system/updated/updated.py +++ b/system/updated/updated.py @@ -243,7 +243,7 @@ class Updater: if b is None: b = self.get_branch(BASEDIR) b = { - ("tici", "release3"): "release-tici" + ("tizi", "release3"): "release-tizi", }.get((HARDWARE.get_device_type(), b), b) return b diff --git a/tinygrad_repo b/tinygrad_repo index e146418f65..965ea59b16 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit e146418f6566301ffe8ebea093c0081409241c8d +Subproject commit 965ea59b16679793b8f48368ac24c4a0ef587e71 diff --git a/tools/op.sh b/tools/op.sh index e83b46b2d2..54ff8e97e9 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -365,6 +365,7 @@ function op_switch() { fi BRANCH="$1" + git config --replace-all remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*" git fetch "$REMOTE" "$BRANCH" git checkout -f FETCH_HEAD git checkout -B "$BRANCH" --track "$REMOTE"/"$BRANCH" diff --git a/uv.lock b/uv.lock index 7010cdfb83..e1678029cf 100644 --- a/uv.lock +++ b/uv.lock @@ -510,27 +510,27 @@ wheels = [ [[package]] name = "fonttools" -version = "4.59.1" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/11/7f/29c9c3fe4246f6ad96fee52b88d0dc3a863c7563b0afc959e36d78b965dc/fonttools-4.59.1.tar.gz", hash = "sha256:74995b402ad09822a4c8002438e54940d9f1ecda898d2bb057729d7da983e4cb", size = 3534394, upload-time = "2025-08-14T16:28:14.266Z" } -wheels = [ - { url = 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