openpilot v0.4.0.1 tweaks

old-commit-hash: 7ef3fd567f

apk/ai.comma.plus.offroad.apk

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:441c03e9bcb881ecc7933872d31d9dc7734a8673f3898fc8d8c49c6a15875b72
+oid sha256:d6f5543949481e6c9dc225d33efb122957a8a85b2c16e6454f8c4f1b01d5d463
-size 15382430
+size 15385239

apk/external/.gitignore

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0795c5ce6068f7ab3fcf23dccbee8b9c76da86808eacf4814ea99be4057ee83f
+size 12

apk/external/com.spotify.music.apkpatch

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce98217d60516c28fd68135a87144be86c63bd8f5e87de64f945925b6cce46af
+size 1947345

apk/external/com.waze.apkpatch

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57f794afccdc34ed52fc38628dbd20c1b9cae170b8c148cb49ab1e9dd1fe84f0
+size 3870675

apk/external/patcher.py

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e43d684937dfd3f907ac5bcc83a513a3030600bba042ef2396dce208847f551
+size 3521

apk/external/tools/ApkPatch.android.jar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8358afec7442e90c4eeffc4db4b4b00793df0f51c909976b4e95e3c8f8dacdcd
+size 1310659

apk/external/tools/apkpatch_android

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca197862754835da4f0bc30823845e3448334f8c5e2093a1947348d2fed753a2
+size 176

apk/external/tools/certificate.pem

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2e32152e7972032fd64ad351323f50008602c60feb19522b1aadd414bf1f7b4
+size 1001

apk/external/tools/key.pk8

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a07ce769d17334f803a499c520d4a7d88478ceb1a9cf740faf296f8f54616e82
+size 633

apk/external/tools/signapk.android.jar

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5743dd91db33116bd7444d7407eb14b140ab2694f8525fc34c66d22256f50634
+size 542612

apk/external/tools/signapk_android

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:123549475cad6ae6ce2261f81caf8f094b3b3d31076e3c320fd08301eb45e657
+size 194

launch_openpilot.sh

@@ -8,12 +8,6 @@ function launch {
      exec "${BASH_SOURCE[0]}"
   fi
 
-  # check if NEOS update is required
-  while [ "$(cat /VERSION)" -lt 4 ] && [ ! -e /data/media/0/noupdate ]; do
-    curl -o /tmp/updater https://neos.comma.ai/updater && chmod +x /tmp/updater && /tmp/updater
-    sleep 10
-  done
-
   # no cpu rationing for now
   echo 0-3 > /dev/cpuset/background/cpus
   echo 0-3 > /dev/cpuset/system-background/cpus
@@ -26,6 +20,12 @@ function launch {
   until ping -W 1 -c 1 8.8.8.8; do sleep 1; done
   kill $spin_pid
 
+  # check if NEOS update is required
+  while [ "$(cat /VERSION)" -lt 4 ] && [ ! -e /data/media/0/noupdate ]; do
+    curl -o /tmp/updater https://neos.comma.ai/updater && chmod +x /tmp/updater && /tmp/updater
+    sleep 10
+  done
+
   export PYTHONPATH="$PWD"
 
   # start manager

selfdrive/debug/get_fingerprint.py

@@ -0,0 +1,29 @@
+#!/usr/bin/env python
+
+# simple script to get a vehicle fingerprint.
+# keep this script running for few seconds: some messages are published every few seconds
+
+# Instructions:
+# - connect to a Panda
+# - run selfdrive/boardd/boardd
+# - launching this script
+# - since some messages are published at low frequency, keep this script running for few seconds, 
+#   until all messages are received at least once
+
+import zmq
+import selfdrive.messaging as messaging
+from selfdrive.services import service_list
+
+context = zmq.Context()
+logcan = messaging.sub_sock(context, service_list['can'].port)
+msgs = {}
+while True:
+  lc = messaging.recv_sock(logcan, True)
+  for c in lc.can:
+    if c.src == 0:
+      msgs[c.address] = len(c.dat)
+
+  fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
+
+  print "number of messages:", len(msgs)
+  print "fingerprint", fingerprint

selfdrive/manager.py

@@ -1,4 +1,5 @@
-#!/usr/bin/env python
+#!/usr/bin/env python2.7
+
 import os
 import sys
 import time
@@ -40,6 +41,7 @@ if __name__ == "__main__":
 
     os._exit(os.wait()[1])
 
+import glob
 import shutil
 import hashlib
 import importlib
@@ -54,6 +56,7 @@ os.environ['BASEDIR'] = BASEDIR
 import usb1
 import zmq
 from setproctitle import setproctitle
+from smbus2 import SMBus
 
 from common.params import Params
 from common.realtime import sec_since_boot
@@ -68,6 +71,8 @@ import selfdrive.crash as crash
 
 from selfdrive.loggerd.config import ROOT
 
+EON = os.path.exists("/EON")
+
 # comment out anything you don't want to run
 managed_processes = {
   "uploader": "selfdrive.loggerd.uploader",
@@ -272,10 +277,6 @@ def system(cmd):
       output=e.output[-1024:],
       returncode=e.returncode)
 
-EON = os.path.exists("/EON")
-if EON:
-  from smbus2 import SMBus
-
 def setup_eon_fan():
   if not EON:
     return
@@ -530,18 +531,34 @@ def install_apk(path):
   return ret == 0
 
 def update_apks():
+  # patch apks
+  if os.getenv("PREPAREONLY"):
+    # assume we have internet, download too
+    patched = subprocess.call([os.path.join(BASEDIR, "apk/external/patcher.py")])
+  else:
+    patched = subprocess.call([os.path.join(BASEDIR, "apk/external/patcher.py"), "patch"])
+  cloudlog.info("patcher: %r" % (patched,))
+
   # install apks
   installed = get_installed_apks()
-  for app in os.listdir(os.path.join(BASEDIR, "apk/")):
+
-    if ".apk" in app:
+  install_apks = (glob.glob(os.path.join(BASEDIR, "apk/*.apk"))
-      app = app.split(".apk")[0]
+                  + glob.glob(os.path.join(BASEDIR, "apk/external/out/*.apk")))
+  for apk in install_apks:
+    app = os.path.basename(apk)[:-4]
     if app not in installed:
       installed[app] = None
+
   cloudlog.info("installed apks %s" % (str(installed), ))
 
   for app in installed.iterkeys():
+    
     apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
-    if os.path.isfile(apk_path):
+    if not os.path.exists(apk_path):
+      apk_path = os.path.join(BASEDIR, "apk/external/out/"+app+".apk")
+    if not os.path.exists(apk_path):
+      continue
+
     h1 = hashlib.sha1(open(apk_path).read()).hexdigest()
     h2 = None
     if installed[app] is not None:

selfdrive/updated.py

@@ -6,6 +6,9 @@ import os
 import time
 import subprocess
 
+from common.basedir import BASEDIR
+from selfdrive.swaglog import cloudlog
+
 def main(gctx=None):
   while True:
     # try network
@@ -14,12 +17,16 @@ def main(gctx=None):
       time.sleep(60)
       continue
 
-    # try fetch
     r = subprocess.call(["nice", "-n", "19", "git", "fetch", "--depth=1"])
+    cloudlog.info("git fetch: %r", r)
     if r:
       time.sleep(60)
       continue
 
+    # download apks
+    r = subprocess.call(["nice", "-n", "19", os.path.join(BASEDIR, "apk/external/patcher.py"), "download"])
+    cloudlog.info("patcher download: %r", r)
+
     time.sleep(60*60*3)
 
 if __name__ == "__main__":