diff --git a/opendbc_repo b/opendbc_repo index ac6122e272..7afc25d8d4 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit ac6122e272e0dc040d5abf3bde6fca4e034a7ef7 +Subproject commit 7afc25d8d4096bb31e25c0b7ae0b961ea05f5394 diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 5c4729ee9a..c40443d7e7 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -1,15 +1,12 @@ import os -import math import hypothesis.strategies as st from hypothesis import Phase, given, settings from parameterized import parameterized from cereal import car from opendbc.car import DT_CTRL -from opendbc.car.car_helpers import interfaces from opendbc.car.structs import CarParams -from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args -from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS +from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface from opendbc.car.mock.values import CAR as MOCK from opendbc.car.values import PLATFORMS from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle @@ -18,11 +15,6 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator -ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()} -ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus} - -ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests} - MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60')) @@ -34,39 +26,8 @@ class TestCarInterfaces: phases=(Phase.reuse, Phase.generate, Phase.shrink)) @given(data=st.data()) def test_car_interfaces(self, car_name, data): - CarInterface = interfaces[car_name] - - args = get_fuzzy_car_interface_args(data.draw) - - car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'], - alpha_long=args['alpha_long'], is_release=False, docs=False) - car_params = car_params.as_reader() - car_interface = CarInterface(car_params) - assert car_params - assert car_interface - - assert car_params.mass > 1 - assert car_params.wheelbase > 0 - # centerToFront is center of gravity to front wheels, assert a reasonable range - assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7 - assert car_params.maxLateralAccel > 0 - - # Longitudinal sanity checks - assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP) - assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP) - - # Lateral sanity checks - if car_params.steerControlType != CarParams.SteerControlType.angle: - tune = car_params.lateralTuning - if tune.which() == 'pid': - if car_name != MOCK.MOCK: - assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0 - assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP) - assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP) - - elif tune.which() == 'torque': - assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0 - assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0 + car_interface = get_fuzzy_car_interface(car_name, data.draw) + car_params = car_interface.CP.as_reader() cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True) # Run car interface diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index eb6bd7b8a4..7b87846748 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 sha256:72e98a95541f200bd2faeae8d718997483696fd4801fc7d718c167b05854707d +oid sha256:ebb38a934d6472c061cc6010f46d9720ca132d631a47e585a893bdd41ade2419 size 12343535 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index ce0dc927e7..4b4fa05df8 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef +oid sha256:befac016a247b7ad5dc5b55d339d127774ed7bd2b848f1583f72aa4caee37781 size 46271991 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index e1133061f5..a833fadb94 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -4c677a3ebcbd3d4faa3de98e3fb9c0bb83b47926 \ No newline at end of file +afcab1abb62b9d5678342956cced4712f44e909e \ No newline at end of file diff --git a/system/hardware/base.py b/system/hardware/base.py index b457ea4e17..ce97bf294d 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -65,6 +65,10 @@ class ThermalConfig: return ret class LPABase(ABC): + @abstractmethod + def bootstrap(self) -> None: + pass + @abstractmethod def list_profiles(self) -> list[Profile]: pass @@ -89,6 +93,9 @@ class LPABase(ABC): def switch_profile(self, iccid: str) -> None: pass + def is_comma_profile(self, iccid: str) -> bool: + return any(iccid.startswith(prefix) for prefix in ('8985235',)) + class HardwareBase(ABC): @staticmethod def get_cmdline() -> dict[str, str]: diff --git a/system/hardware/esim.py b/system/hardware/esim.py index 58ead6593f..909ad41e03 100755 --- a/system/hardware/esim.py +++ b/system/hardware/esim.py @@ -3,10 +3,32 @@ import argparse import time from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware.base import LPABase + + +def bootstrap(lpa: LPABase) -> None: + print('┌──────────────────────────────────────────────────────────────────────────────┐') + print('│ WARNING, PLEASE READ BEFORE PROCEEDING │') + print('│ │') + print('│ this is an irreversible operation that will remove the comma-provisioned │') + print('│ profile. │') + print('│ │') + print('│ after this operation, you must purchase a new eSIM from comma in order to │') + print('│ use the comma prime subscription again. │') + print('└──────────────────────────────────────────────────────────────────────────────┘') + print() + for severity in ('sure', '100% sure'): + print(f'are you {severity} you want to proceed? (y/N) ', end='') + confirm = input() + if confirm != 'y': + print('aborting') + exit(0) + lpa.bootstrap() if __name__ == '__main__': parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai') + parser.add_argument('--bootstrap', action='store_true', help='bootstrap the eUICC (required before downloading profiles)') parser.add_argument('--backend', choices=['qmi', 'at'], default='qmi', help='use the specified backend, defaults to qmi') parser.add_argument('--switch', metavar='iccid', help='switch to profile') parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)') @@ -16,7 +38,10 @@ if __name__ == '__main__': mutated = False lpa = HARDWARE.get_sim_lpa() - if args.switch: + if args.bootstrap: + bootstrap(lpa) + mutated = True + elif args.switch: lpa.switch_profile(args.switch) mutated = True elif args.delete: diff --git a/system/hardware/tici/esim.py b/system/hardware/tici/esim.py index b489286f50..391ba45531 100644 --- a/system/hardware/tici/esim.py +++ b/system/hardware/tici/esim.py @@ -40,6 +40,7 @@ class TiciLPA(LPABase): self._process_notifications() def download_profile(self, qr: str, nickname: str | None = None) -> None: + self._check_bootstrapped() msgs = self._invoke('profile', 'download', '-a', qr) self._validate_successful(msgs) new_profile = next((m for m in msgs if m['payload']['message'] == 'es8p_meatadata_parse'), None) @@ -54,6 +55,7 @@ class TiciLPA(LPABase): self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname)) def switch_profile(self, iccid: str) -> None: + self._check_bootstrapped() self._validate_profile_exists(iccid) latest = self.get_active_profile() if latest and latest.iccid == iccid: @@ -61,6 +63,33 @@ class TiciLPA(LPABase): self._validate_successful(self._invoke('profile', 'enable', iccid)) self._process_notifications() + def bootstrap(self) -> None: + """ + find all comma-provisioned profiles and delete them. they conflict with user-provisioned profiles + and must be deleted. + + **note**: this is a **very** destructive operation. you **must** purchase a new comma SIM in order + to use comma prime again. + """ + if self._is_bootstrapped(): + return + + for p in self.list_profiles(): + if self.is_comma_profile(p.iccid): + self._disable_profile(p.iccid) + self.delete_profile(p.iccid) + + def _disable_profile(self, iccid: str) -> None: + self._validate_successful(self._invoke('profile', 'disable', iccid)) + self._process_notifications() + + def _check_bootstrapped(self) -> None: + assert self._is_bootstrapped(), 'eUICC is not bootstrapped, please bootstrap before performing this operation' + + def _is_bootstrapped(self) -> bool: + """ check if any comma provisioned profiles are on the eUICC """ + return not any(self.is_comma_profile(iccid) for iccid in (p.iccid for p in self.list_profiles())) + def _invoke(self, *cmd: str): proc = subprocess.Popen(['sudo', '-E', 'lpac'] + list(cmd), stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=self.env) try: diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 6a9b98af82..0f50acdc38 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -487,7 +487,7 @@ class Tici(HardwareBase): # eSIM prime dest = "/etc/NetworkManager/system-connections/esim.nmconnection" - if sim_id.startswith('8985235') and not os.path.exists(dest): + if self.get_sim_lpa().is_comma_profile(sim_id) and not os.path.exists(dest): with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf: dat = f.read() dat = dat.replace("sim-id=", f"sim-id={sim_id}") @@ -498,6 +498,14 @@ class Tici(HardwareBase): os.system(f"sudo cp {tf.name} {dest}") os.system(f"sudo nmcli con load {dest}") + def reboot_modem(self): + modem = self.get_modem() + for state in (0, 1): + try: + modem.Command(f'AT+CFUN={state}', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT) + except Exception: + pass + def get_networks(self): r = {} diff --git a/tools/auto_source.py b/tools/auto_source.py index 401929a9ad..bef6a43e53 100755 --- a/tools/auto_source.py +++ b/tools/auto_source.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import sys -from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.logreader import LogReader, ReadMode def main(): @@ -9,7 +9,7 @@ def main(): sys.exit(1) log_path = sys.argv[1] - lr = LogReader(log_path, sort_by_time=True) + lr = LogReader(log_path, default_mode=ReadMode.AUTO, sort_by_time=True) print("\n".join(lr.logreader_identifiers))