HW abstraction layer (#19530)

* start hw refactor

* move that

* pins

* put that back
old-commit-hash: 8674b023ba

common/basedir.py

@@ -1,7 +1,7 @@
 import os
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
-from common.hardware import PC
+from selfdrive.hardware import PC
 if PC:
   PERSIST = os.path.join(BASEDIR, "persist")
 else:

common/gpio.py

@@ -1,11 +1,3 @@
-GPIO_HUB_RST_N = 30
-GPIO_UBLOX_RST_N = 32
-GPIO_UBLOX_SAFEBOOT_N = 33
-GPIO_UBLOX_PWR_EN = 34
-GPIO_STM_RST_N = 124
-GPIO_STM_BOOT0 = 134
-
-
 def gpio_init(pin, output):
   try:
     with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:

common/realtime.py

@@ -4,8 +4,8 @@ import os
 import time
 import multiprocessing
 
-from common.hardware import PC, TICI
 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
+from selfdrive.hardware import PC, TICI
 
 
 # time step for each process

common/transformations/camera.py

@@ -1,7 +1,7 @@
 import numpy as np
 
 import common.transformations.orientation as orient
-from common.hardware import TICI
+from selfdrive.hardware import TICI
 
 ## -- hardcoded hardware params --
 eon_f_focal_length = 910.0

launch_chffrplus.sh

@@ -74,6 +74,12 @@ function two_init {
     chrt -f -p 52 $pid
   done
 
+  # the flippening!
+  LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
+
+  # disable bluetooth
+  service call bluetooth_manager 8
+
   # Check for NEOS update
   if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
     if [ -f "$DIR/scripts/continue.sh" ]; then

release/files_common

@@ -18,10 +18,6 @@ apk/ai.comma*.apk
 
 common/.gitignore
 common/__init__.py
-common/hardware.py
-common/hardware_android.py
-common/hardware_tici.py
-common/hardware_base.py
 common/gpio.py
 common/realtime.py
 common/clock.pyx
@@ -41,7 +37,6 @@ common/stat_live.py
 common/spinner.py
 common/text_window.py
 common/cython_hacks.py
-common/apk.py
 common/SConscript
 
 common/kalman/.gitignore
@@ -274,6 +269,17 @@ selfdrive/controls/lib/longitudinal_mpc_model/generator.cpp
 selfdrive/controls/lib/longitudinal_mpc_model/libmpc_py.py
 selfdrive/controls/lib/longitudinal_mpc_model/longitudinal_mpc.c
 
+selfdrive/hardware/__init__.py
+selfdrive/hardware/base.py
+selfdrive/hardware/eon/__init__.py
+selfdrive/hardware/eon/apk.py
+selfdrive/hardware/eon/hardware.py
+selfdrive/hardware/tici/__init__.py
+selfdrive/hardware/tici/hardware.py
+selfdrive/hardware/tici/pins.py
+selfdrive/hardware/pc/__init__.py
+selfdrive/hardware/pc/hardware.py
+
 selfdrive/locationd/__init__.py
 selfdrive/locationd/.gitignore
 selfdrive/locationd/SConscript

selfdrive/athena/athenad.py

@@ -20,11 +20,11 @@ from websocket import ABNF, WebSocketTimeoutException, create_connection
 
 import cereal.messaging as messaging
 from cereal.services import service_list
-from common.hardware import HARDWARE
 from common.api import Api
 from common.basedir import PERSIST
 from common.params import Params
 from common.realtime import sec_since_boot
+from selfdrive.hardware import HARDWARE
 from selfdrive.loggerd.config import ROOT
 from selfdrive.swaglog import cloudlog
 

selfdrive/camerad/test/test_camerad.py

@@ -9,8 +9,8 @@ import cereal.messaging as messaging
 from selfdrive.test.helpers import with_processes
 from selfdrive.camerad.snapshot.visionipc import VisionIPC
 
-from common.hardware import EON, TICI
 # only tests for EON and TICI
+from selfdrive.hardware import EON, TICI
 
 TEST_TIMESPAN = random.randint(60, 180) # seconds
 SKIP_FRAME_TOLERANCE = 0

selfdrive/car/car_helpers.py

@@ -1,11 +1,11 @@
 import os
 from common.params import Params
 from common.basedir import BASEDIR
-from common.hardware import ANDROID
 from selfdrive.version import comma_remote, tested_branch
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
 from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
+from selfdrive.hardware import EON
 from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
@@ -24,7 +24,7 @@ def get_startup_event(car_recognized, controller_available):
     event = EventName.startupNoCar
   elif car_recognized and not controller_available:
     event = EventName.startupNoControl
-  elif ANDROID and "letv" not in open("/proc/cmdline").read():
+  elif EON and "letv" not in open("/proc/cmdline").read():
     event = EventName.startupOneplus
   return event
 

selfdrive/controls/controlsd.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import os
 from cereal import car, log
-from common.hardware import HARDWARE
 from common.numpy_fast import clip
 from common.realtime import sec_since_boot, config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from common.profiler import Profiler
@@ -21,6 +20,7 @@ from selfdrive.controls.lib.alertmanager import AlertManager
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.controls.lib.planner import LON_MPC_STEP
 from selfdrive.locationd.calibrationd import Calibration
+from selfdrive.hardware import HARDWARE
 
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
 LANE_DEPARTURE_THRESHOLD = 0.1

selfdrive/crash.py

@@ -5,8 +5,8 @@ import threading
 import capnp
 from selfdrive.version import version, dirty, origin, branch
 
+from selfdrive.hardware import PC
 from selfdrive.swaglog import cloudlog
-from common.hardware import PC
 
 if os.getenv("NOLOG") or os.getenv("NOCRASH") or PC:
   def capture_exception(*args, **kwargs):

selfdrive/hardware/__init__.py

@@ -0,0 +1,19 @@
+import os
+from typing import cast
+
+from selfdrive.hardware.base import HardwareBase
+from selfdrive.hardware.eon.hardware import Android
+from selfdrive.hardware.tici.hardware import Tici
+from selfdrive.hardware.pc.hardware import Pc
+
+EON = os.path.isfile('/EON')
+TICI = os.path.isfile('/TICI')
+PC = not (EON or TICI)
+
+
+if EON:
+  HARDWARE = cast(HardwareBase, Android())
+elif TICI:
+  HARDWARE = cast(HardwareBase, Tici())
+else:
+  HARDWARE = cast(HardwareBase, Pc())

selfdrive/hardware/eon/hardware.py

@@ -6,7 +6,7 @@ import struct
 import subprocess
 
 from cereal import log
-from common.hardware_base import HardwareBase
+from selfdrive.hardware.base import HardwareBase
 
 NetworkType = log.ThermalData.NetworkType
 NetworkStrength = log.ThermalData.NetworkStrength

selfdrive/hardware/pc/hardware.py

@@ -1,17 +1,7 @@
-import os
 import random
-from typing import cast
 
 from cereal import log
-from common.hardware_android import Android
-from common.hardware_tici import Tici
-from common.hardware_base import HardwareBase
-
-EON = os.path.isfile('/EON')
-TICI = os.path.isfile('/TICI')
-PC = not (EON or TICI)
-ANDROID = EON
-
+from selfdrive.hardware.base import HardwareBase
 
 NetworkType = log.ThermalData.NetworkType
 NetworkStrength = log.ThermalData.NetworkStrength
@@ -71,11 +61,3 @@ class Pc(HardwareBase):
 
   def get_current_power_draw(self):
     return 0
-
-
-if EON:
-  HARDWARE = cast(HardwareBase, Android())
-elif TICI:
-  HARDWARE = cast(HardwareBase, Tici())
-else:
-  HARDWARE = cast(HardwareBase, Pc())

selfdrive/hardware/tici/hardware.py

@@ -1,7 +1,8 @@
-from common.hardware_base import HardwareBase
-from cereal import log
 import subprocess
 
+from cereal import log
+from selfdrive.hardware.base import HardwareBase
+
 NM = 'org.freedesktop.NetworkManager'
 NM_CON_ACT = NM + '.Connection.Active'
 NM_DEV_WL = NM + '.Device.Wireless'

selfdrive/hardware/tici/pins.py

@@ -0,0 +1,8 @@
+# TODO: these are also defined in a header
+# GPIO pin definitions
+GPIO_HUB_RST_N = 30
+GPIO_UBLOX_RST_N = 32
+GPIO_UBLOX_SAFEBOOT_N = 33
+GPIO_UBLOX_PWR_EN = 34
+GPIO_STM_RST_N = 124
+GPIO_STM_BOOT0 = 134

selfdrive/loggerd/tests/test_loggerd.py

@@ -11,8 +11,8 @@ from pathlib import Path
 from tqdm import trange
 
 from common.params import Params
-from common.hardware import EON, TICI
 from common.timeout import Timeout
+from selfdrive.hardware import EON, TICI
 from selfdrive.test.helpers import with_processes
 from selfdrive.loggerd.config import ROOT, CAMERA_FPS
 

selfdrive/loggerd/uploader.py

@@ -10,9 +10,9 @@ import time
 import traceback
 
 from cereal import log
-from common.hardware import HARDWARE
 from common.api import Api
 from common.params import Params
+from selfdrive.hardware import HARDWARE
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.loggerd.config import ROOT
 from selfdrive.swaglog import cloudlog

selfdrive/manager.py

@@ -14,7 +14,7 @@ from selfdrive.swaglog import cloudlog, add_logentries_handler
 
 
 from common.basedir import BASEDIR
-from common.hardware import HARDWARE, ANDROID, PC
+from selfdrive.hardware import HARDWARE, EON, PC
 WEBCAM = os.getenv("WEBCAM") is not None
 sys.path.append(os.path.join(BASEDIR, "pyextra"))
 os.environ['BASEDIR'] = BASEDIR
@@ -30,7 +30,7 @@ except FileExistsError:
 except PermissionError:
   print("WARNING: failed to make /dev/shm")
 
-if ANDROID:
+if EON:
   os.chmod("/dev/shm", 0o777)
 
 def unblock_stdout():
@@ -157,7 +157,7 @@ from selfdrive.registration import register
 from selfdrive.version import version, dirty
 from selfdrive.loggerd.config import ROOT
 from selfdrive.launcher import launcher
-from common.apk import update_apks, pm_apply_packages, start_offroad
+from selfdrive.hardware.eon.apk import update_apks, pm_apply_packages, start_offroad
 
 ThermalStatus = cereal.log.ThermalData.ThermalStatus
 
@@ -258,7 +258,7 @@ if not PC:
     'dmonitoringmodeld',
   ]
 
-if ANDROID:
+if EON:
   car_started_processes += [
     'gpsd',
     'rtshield',
@@ -385,7 +385,7 @@ def kill_managed_process(name):
 def cleanup_all_processes(signal, frame):
   cloudlog.info("caught ctrl-c %s %s" % (signal, frame))
 
-  if ANDROID:
+  if EON:
     pm_apply_packages('disable')
 
   for name in list(running.keys()):
@@ -433,7 +433,7 @@ def manager_init(should_register=True):
     pass
 
   # ensure shared libraries are readable by apks
-  if ANDROID:
+  if EON:
     os.chmod(BASEDIR, 0o755)
     os.chmod(os.path.join(BASEDIR, "cereal"), 0o755)
     os.chmod(os.path.join(BASEDIR, "cereal", "libmessaging_shared.so"), 0o755)
@@ -459,7 +459,7 @@ def manager_thread():
     start_managed_process(p)
 
   # start offroad
-  if ANDROID:
+  if EON:
     pm_apply_packages('enable')
     start_offroad()
 
@@ -534,13 +534,6 @@ def uninstall():
   HARDWARE.reboot(reason="recovery")
 
 def main():
-  if ANDROID:
-    # the flippening!
-    os.system('LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1')
-
-    # disable bluetooth
-    os.system('service call bluetooth_manager 8')
-
   params = Params()
   params.manager_start()
 
@@ -572,7 +565,7 @@ def main():
   if params.get("Passive") is None:
     raise Exception("Passive must be set to continue")
 
-  if ANDROID:
+  if EON:
     update_apks()
   manager_init()
   manager_prepare(spinner)

selfdrive/pandad.py

@@ -3,9 +3,10 @@
 import os
 import time
 
-from common.hardware import TICI
-from common.gpio import GPIO_HUB_RST_N, GPIO_STM_BOOT0, GPIO_STM_RST_N, gpio_init, gpio_set
 from panda import BASEDIR, Panda, PandaDFU, build_st
+from common.gpio import gpio_init, gpio_set
+from selfdrive.hardware import TICI
+from selfdrive.hardware.tici.pins import GPIO_HUB_RST_N, GPIO_STM_BOOT0, GPIO_STM_RST_N
 from selfdrive.swaglog import cloudlog
 
 def is_legacy_panda_reset():

selfdrive/registration.py

@@ -2,13 +2,14 @@ import os
 import json
 
 from datetime import datetime, timedelta
-from selfdrive.swaglog import cloudlog
-from selfdrive.version import version, terms_version, training_version, get_git_commit, get_git_branch, get_git_remote
-from common.hardware import HARDWARE
 from common.api import api_get
 from common.params import Params
 from common.file_helpers import mkdirs_exists_ok
 from common.basedir import PERSIST
+from selfdrive.hardware import HARDWARE
+from selfdrive.swaglog import cloudlog
+from selfdrive.version import version, terms_version, training_version, get_git_commit, \
+                              get_git_branch, get_git_remote
 
 
 def register():

selfdrive/test/helpers.py

@@ -3,8 +3,8 @@ import subprocess
 from functools import wraps
 from nose.tools import nottest
 
-from common.hardware import PC
-from common.apk import update_apks, start_offroad, pm_apply_packages, android_packages
+from selfdrive.hardware.eon.apk import update_apks, start_offroad, pm_apply_packages, android_packages
+from selfdrive.hardware import PC
 from selfdrive.version import training_version, terms_version
 from selfdrive.manager import start_managed_process, kill_managed_process, get_running
 

selfdrive/test/process_replay/camera_replay.py

@@ -5,10 +5,7 @@ import time
 from typing import Any
 from tqdm import tqdm
 
-from common.hardware import ANDROID
-os.environ['CI'] = "1"
-if ANDROID:
-  os.environ['QCOM_REPLAY'] = "1"
+os.environ['QCOM_REPLAY'] = '1'
 
 from common.spinner import Spinner
 from common.timeout import Timeout

selfdrive/test/test_sounds.py

@@ -5,8 +5,8 @@ import subprocess
 from cereal import log, car
 import cereal.messaging as messaging
 from selfdrive.test.helpers import phone_only, with_processes
-from common.hardware import HARDWARE
 from common.realtime import DT_CTRL
+from selfdrive.hardware import HARDWARE
 
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 

selfdrive/thermald/power_monitoring.py

@@ -4,9 +4,9 @@ import time
 from statistics import mean
 
 from cereal import log
-from common.realtime import sec_since_boot
 from common.params import Params, put_nonblocking
-from common.hardware import HARDWARE
+from common.realtime import sec_since_boot
+from selfdrive.hardware import HARDWARE
 from selfdrive.swaglog import cloudlog
 
 CAR_VOLTAGE_LOW_PASS_K = 0.091 # LPF gain for 5s tau (dt/tau / (dt/tau + 1))

selfdrive/thermald/thermald.py

@@ -11,11 +11,11 @@ from smbus2 import SMBus
 import cereal.messaging as messaging
 from cereal import log
 from common.filter_simple import FirstOrderFilter
-from common.hardware import EON, HARDWARE, TICI
 from common.numpy_fast import clip, interp
 from common.params import Params
 from common.realtime import DT_TRML, sec_since_boot
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
+from selfdrive.hardware import EON, HARDWARE, TICI
 from selfdrive.loggerd.config import get_available_percent
 from selfdrive.pandad import get_expected_signature
 from selfdrive.swaglog import cloudlog

selfdrive/updated.py

@@ -34,9 +34,9 @@ import threading
 from pathlib import Path
 from typing import List, Tuple, Optional
 
-from common.hardware import ANDROID, TICI
 from common.basedir import BASEDIR
 from common.params import Params
+from selfdrive.hardware import EON, TICI
 from selfdrive.swaglog import cloudlog
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 
@@ -292,7 +292,7 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool:
       ]
       cloudlog.info("git reset success: %s", '\n'.join(r))
 
-      if ANDROID:
+      if EON:
         handle_neos_update(wait_helper)
 
     # Create the finalized, ready-to-swap update
@@ -312,10 +312,10 @@ def main():
 
   # TODO: enable this before 0.8.1 release
   #leon = "letv" in open("/proc/cmdline").read()
-  #if ANDROID and not leon:
+  #if EON and not leon:
   #  raise RuntimeError("updates are disabled due to device deprecation")
 
-  if ANDROID and os.geteuid() != 0:
+  if EON and os.geteuid() != 0:
     raise RuntimeError("updated must be launched as root!")
 
   # Set low io priority

tools/lib/auth_config.py

@@ -1,7 +1,7 @@
 import json
 import os
-from common.hardware import PC
 from common.file_helpers import mkdirs_exists_ok
+from selfdrive.hardware import PC
 
 
 class MissingAuthConfigError(Exception):