openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#!/usr/bin/env python3
from tinygrad.runtime.support.system import System
import argparse, glob, os, re, time, subprocess, sys
def scan_devs_based_on_lock(prefix:str) -> list[str]:
devs = []
for dev in glob.glob(f'/tmp/{prefix}_*.lock'):
dev_id = dev[8:-5]
if os.path.exists(f"/sys/bus/pci/devices/{dev_id}"): devs.append(dev_id)
return devs
def _do_reset_device(pci_bus): System.pci_reset(pci_bus)
def _is_module_loaded(name: str) -> bool: return os.path.isdir(f"/sys/module/{name}")
def cmd_remove_module(args):
to_unload = [m for m in ["nvidia_drm", "nvidia_modeset", "nvidia_uvm", "nvidia"] if _is_module_loaded(m)]
if not to_unload:
print("NVIDIA kernel modules are not loaded")
else:
print("Removing NVIDIA kernel modules:", ", ".join(to_unload))
try: subprocess.run(["sudo", "modprobe", "-r", *to_unload], check=True)
except subprocess.CalledProcessError as e:
print("Failed to unload all modules — they may be in use.", file=sys.stderr)
sys.exit(e.returncode)
def cmd_insert_module(args):
cmd_remove_module(args)
cmd_reset_devices(args)
if not os.path.exists("/sys/module/nvidia"):
print("Inserting nvidia kernel module")
subprocess.run(["nvidia-smi"], check=True)
else: print("Nvidia kernel module already loaded")
def cmd_reset_devices(args):
devs = scan_devs_based_on_lock("nv")
dev_to_reset = args.pci_bus if 'pci_bus' in args.__dir__() else ""
for dev in devs:
if dev.startswith(dev_to_reset):
print(f"Resetting device {dev}")
_do_reset_device(dev)
time.sleep(0.2)
if __name__ == "__main__":
parser = argparse.ArgumentParser()
subparsers = parser.add_subparsers(required=True, dest="cmd")
parser_insmod = subparsers.add_parser('insmod', help='Insert a nvidia kernel module')
parser_insmod.set_defaults(func=cmd_insert_module)
parser_rmmod = subparsers.add_parser('rmmod', help='Remove a nvidia kernel module')
parser_rmmod.set_defaults(func=cmd_remove_module)
parser_reset = subparsers.add_parser('reset', help='Reset a nvidia device')
parser_reset.add_argument('--pci_bus', type=str, default="", help='PCI bus ID of the device to reset')
parser_reset.set_defaults(func=cmd_reset_devices)
args = parser.parse_args()
if args.cmd is None:
parser.print_help(sys.stderr)
sys.exit(1)
args.func(args)