openpilot_comma/system/qcomgpsd/qcomgpsd.py

#!/usr/bin/env python3
import os
import sys
import signal
import itertools
import math
import time
import requests
import shutil
import subprocess
import datetime
from multiprocessing import Process, Event
from typing import NoReturn
from struct import unpack_from, calcsize, pack

from cereal import log
import cereal.messaging as messaging
from openpilot.common.gpio import gpio_init, gpio_set
from openpilot.common.retry import retry
from openpilot.system.hardware.tici.pins import GPIO
from openpilot.common.swaglog import cloudlog
from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, relist,
                                              gps_measurement_report, gps_measurement_report_sv,
                                              glonass_measurement_report, glonass_measurement_report_sv,
                                              oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report,
                                              LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
                                              LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT,
                                              LOG_GNSS_OEMDRE_SVPOLY_REPORT)

DEBUG = int(os.getenv("DEBUG", "0"))==1
ASSIST_DATA_FILE = '/tmp/xtra3grc.bin'
ASSIST_DATA_FILE_DOWNLOAD = ASSIST_DATA_FILE + '.download'
ASSISTANCE_URL = 'http://xtrapath3.izatcloud.net/xtra3grc.bin'

LOG_TYPES = [
  LOG_GNSS_GPS_MEASUREMENT_REPORT,
  LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
  LOG_GNSS_OEMDRE_MEASUREMENT_REPORT,
  LOG_GNSS_POSITION_REPORT,
  LOG_GNSS_OEMDRE_SVPOLY_REPORT,
]


miscStatusFields = {
  "multipathEstimateIsValid": 0,
  "directionIsValid": 1,
}

measurementStatusFields = {
  "subMillisecondIsValid": 0,
  "subBitTimeIsKnown": 1,
  "satelliteTimeIsKnown": 2,
  "bitEdgeConfirmedFromSignal": 3,
  "measuredVelocity": 4,
  "fineOrCoarseVelocity": 5,
  "lockPointValid": 6,
  "lockPointPositive": 7,

  "lastUpdateFromDifference": 9,
  "lastUpdateFromVelocityDifference": 10,
  "strongIndicationOfCrossCorelation": 11,
  "tentativeMeasurement": 12,
  "measurementNotUsable": 13,
  "sirCheckIsNeeded": 14,
  "probationMode": 15,

  "multipathIndicator": 24,
  "imdJammingIndicator": 25,
  "lteB13TxJammingIndicator": 26,
  "freshMeasurementIndicator": 27,
}

measurementStatusGPSFields = {
  "gpsRoundRobinRxDiversity": 18,
  "gpsRxDiversity": 19,
  "gpsLowBandwidthRxDiversityCombined": 20,
  "gpsHighBandwidthNu4": 21,
  "gpsHighBandwidthNu8": 22,
  "gpsHighBandwidthUniform": 23,
}

measurementStatusGlonassFields = {
  "glonassMeanderBitEdgeValid": 16,
  "glonassTimeMarkValid": 17
}

@retry(attempts=10, delay=1.0)
def try_setup_logs(diag, logs):
  return setup_logs(diag, logs)

@retry(attempts=3, delay=1.0)
def at_cmd(cmd: str) -> str | None:
  return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8')

def gps_enabled() -> bool:
  return "QGPS: 1" in at_cmd("AT+QGPS?")

def download_assistance():
  try:
    response = requests.get(ASSISTANCE_URL, timeout=5, stream=True)

    with open(ASSIST_DATA_FILE_DOWNLOAD, 'wb') as fp:
      for chunk in response.iter_content(chunk_size=8192):
        fp.write(chunk)
        if fp.tell() > 1e5:
          cloudlog.error("Qcom assistance data larger than expected")
          return

    os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE)

  except requests.exceptions.RequestException:
    cloudlog.exception("Failed to download assistance file")
    return

def downloader_loop(event):
  if os.path.exists(ASSIST_DATA_FILE):
    os.remove(ASSIST_DATA_FILE)

  alt_path = os.getenv("QCOM_ALT_ASSISTANCE_PATH", None)
  if alt_path is not None and os.path.exists(alt_path):
    shutil.copyfile(alt_path, ASSIST_DATA_FILE)

  try:
    while not os.path.exists(ASSIST_DATA_FILE) and not event.is_set():
      download_assistance()
      event.wait(timeout=10)
  except KeyboardInterrupt:
    pass

@retry(attempts=5, delay=0.2, ignore_failure=True)
def inject_assistance():
  cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}"
  subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True)
  cloudlog.info("successfully loaded assistance data")

@retry(attempts=5, delay=1.0)
def setup_quectel(diag: ModemDiag) -> bool:
  ret = False

  # enable OEMDRE in the NV
  # TODO: it has to reboot for this to take effect
  DIAG_NV_READ_F = 38
  DIAG_NV_WRITE_F = 39
  NV_GNSS_OEM_FEATURE_MASK = 7165
  send_recv(diag, DIAG_NV_WRITE_F, pack('<HI', NV_GNSS_OEM_FEATURE_MASK, 1))
  send_recv(diag, DIAG_NV_READ_F, pack('<H', NV_GNSS_OEM_FEATURE_MASK))

  try_setup_logs(diag, LOG_TYPES)

  if gps_enabled():
    at_cmd("AT+QGPSEND")

  if "GPS_COLD_START" in os.environ:
    # deletes all assistance
    at_cmd("AT+QGPSDEL=0")
  else:
    # allow module to perform hot start
    at_cmd("AT+QGPSDEL=1")

  # disable DPO power savings for more accuracy
  at_cmd("AT+QGPSCFG=\"dpoenable\",0")
  # don't automatically turn on GNSS on powerup
  at_cmd("AT+QGPSCFG=\"autogps\",0")

  # Do internet assistance
  at_cmd("AT+QGPSXTRA=1")
  at_cmd("AT+QGPSSUPLURL=\"NULL\"")
  if os.path.exists(ASSIST_DATA_FILE):
    ret = True
    inject_assistance()
    os.remove(ASSIST_DATA_FILE)
  #at_cmd("AT+QGPSXTRADATA?")
  time_str = datetime.datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S")
  at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")

  at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"")
  at_cmd("AT+QGPS=1")

  # enable OEMDRE mode
  DIAG_SUBSYS_CMD_F = 75
  DIAG_SUBSYS_GPS = 13
  CGPS_DIAG_PDAPI_CMD = 0x64
  CGPS_OEM_CONTROL = 202
  GPSDIAG_OEMFEATURE_DRE = 1
  GPSDIAG_OEM_DRE_ON = 1

  # gpsdiag_OemControlReqType
  send_recv(diag, DIAG_SUBSYS_CMD_F, pack('<BHBBIIII',
    DIAG_SUBSYS_GPS,           # Subsystem Id
    CGPS_DIAG_PDAPI_CMD,       # Subsystem Command Code
    CGPS_OEM_CONTROL,          # CGPS Command Code
    0,                         # Version
    GPSDIAG_OEMFEATURE_DRE,
    GPSDIAG_OEM_DRE_ON,
    0,0
  ))

  return ret

def teardown_quectel(diag):
  at_cmd("AT+QGPSCFG=\"outport\",\"none\"")
  if gps_enabled():
    at_cmd("AT+QGPSEND")
  try_setup_logs(diag, [])


def wait_for_modem():
  cloudlog.warning("waiting for modem to come up")
  while True:
    ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
    if ret == 0:
      return
    time.sleep(0.1)


def main() -> NoReturn:
  unpack_gps_meas, size_gps_meas = dict_unpacker(gps_measurement_report, True)
  unpack_gps_meas_sv, size_gps_meas_sv = dict_unpacker(gps_measurement_report_sv, True)

  unpack_glonass_meas, size_glonass_meas = dict_unpacker(glonass_measurement_report, True)
  unpack_glonass_meas_sv, size_glonass_meas_sv = dict_unpacker(glonass_measurement_report_sv, True)

  unpack_oemdre_meas, size_oemdre_meas = dict_unpacker(oemdre_measurement_report, True)
  unpack_oemdre_meas_sv, size_oemdre_meas_sv = dict_unpacker(oemdre_measurement_report_sv, True)

  unpack_svpoly, _ = dict_unpacker(oemdre_svpoly_report, True)
  unpack_position, _ = dict_unpacker(position_report)

  unpack_position, _ = dict_unpacker(position_report)

  wait_for_modem()

  stop_download_event = Event()
  assist_fetch_proc = Process(target=downloader_loop, args=(stop_download_event,))
  assist_fetch_proc.start()
  def cleanup(sig, frame):
    cloudlog.warning("caught sig disabling quectel gps")

    gpio_set(GPIO.GNSS_PWR_EN, False)
    teardown_quectel(diag)
    cloudlog.warning("quectel cleanup done")

    stop_download_event.set()
    assist_fetch_proc.kill()
    assist_fetch_proc.join()

    sys.exit(0)
  signal.signal(signal.SIGINT, cleanup)
  signal.signal(signal.SIGTERM, cleanup)

  # connect to modem
  diag = ModemDiag()
  r = setup_quectel(diag)
  want_assistance = not r
  cloudlog.warning("quectel setup done")
  gpio_init(GPIO.GNSS_PWR_EN, True)
  gpio_set(GPIO.GNSS_PWR_EN, True)

  pm = messaging.PubMaster(['qcomGnss', 'gpsLocation'])

  while 1:
    if os.path.exists(ASSIST_DATA_FILE) and want_assistance:
      setup_quectel(diag)
      want_assistance = False

    opcode, payload = diag.recv()
    if opcode != DIAG_LOG_F:
      cloudlog.error(f"Unhandled opcode: {opcode}")
      continue

    (pending_msgs, log_outer_length), inner_log_packet = unpack_from('<BH', payload), payload[calcsize('<BH'):]
    if pending_msgs > 0:
      cloudlog.debug("have %d pending messages" % pending_msgs)
    assert log_outer_length == len(inner_log_packet)

    (log_inner_length, log_type, log_time), log_payload = unpack_from('<HHQ', inner_log_packet), inner_log_packet[calcsize('<HHQ'):]
    assert log_inner_length == len(inner_log_packet)

    if log_type not in LOG_TYPES:
      continue

    if DEBUG:
      print("%.4f: got log: %x len %d" % (time.time(), log_type, len(log_payload)))

    if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT:
      msg = messaging.new_message('qcomGnss', valid=True)

      gnss = msg.qcomGnss
      gnss.logTs = log_time
      gnss.init('drMeasurementReport')
      report = gnss.drMeasurementReport

      dat = unpack_oemdre_meas(log_payload)
      for k,v in dat.items():
        if k in ["gpsTimeBias", "gpsClockTimeUncertainty"]:
          k += "Ms"
        if k == "version":
          assert v == 2
        elif k == "svCount" or k.startswith("cdmaClockInfo["):
          # TODO: should we save cdmaClockInfo?
          pass
        elif k == "systemRtcValid":
          setattr(report, k, bool(v))
        else:
          setattr(report, k, v)

      report.init('sv', dat['svCount'])
      sats = log_payload[size_oemdre_meas:]
      for i in range(dat['svCount']):
        sat = unpack_oemdre_meas_sv(sats[size_oemdre_meas_sv*i:size_oemdre_meas_sv*(i+1)])
        sv = report.sv[i]
        sv.init('measurementStatus')
        for k,v in sat.items():
          if k in ["unkn", "measurementStatus2"]:
            pass
          elif k == "multipathEstimateValid":
            sv.measurementStatus.multipathEstimateIsValid = bool(v)
          elif k == "directionValid":
            sv.measurementStatus.directionIsValid = bool(v)
          elif k == "goodParity":
            setattr(sv, k, bool(v))
          elif k == "measurementStatus":
            for kk,vv in measurementStatusFields.items():
              setattr(sv.measurementStatus, kk, bool(v & (1<<vv)))
          else:
            setattr(sv, k, v)
      pm.send('qcomGnss', msg)
    elif log_type == LOG_GNSS_POSITION_REPORT:
      report = unpack_position(log_payload)
      if report["u_PosSource"] != 2:
        continue
      vNED = [report["q_FltVelEnuMps[1]"], report["q_FltVelEnuMps[0]"], -report["q_FltVelEnuMps[2]"]]
      vNEDsigma = [report["q_FltVelSigmaMps[1]"], report["q_FltVelSigmaMps[0]"], -report["q_FltVelSigmaMps[2]"]]

      msg = messaging.new_message('gpsLocation', valid=True)
      gps = msg.gpsLocation
      gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi
      gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi
      gps.altitude = report["q_FltFinalPosAlt"]
      gps.speed = math.sqrt(sum([x**2 for x in vNED]))
      gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi

      # TODO needs update if there is another leap second, after june 2024?
      dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, datetime.UTC) +
                      datetime.timedelta(weeks=report['w_GpsWeekNumber']) +
                      datetime.timedelta(seconds=(1e-3*report['q_GpsFixTimeMs'] - 18)))
      gps.unixTimestampMillis = dt_timestamp.timestamp()*1e3
      gps.source = log.GpsLocationData.SensorSource.qcomdiag
      gps.vNED = vNED
      gps.verticalAccuracy = report["q_FltVdop"]
      gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi if (report["q_FltHeadingUncRad"] != 0) else 180
      gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
      # quectel gps verticalAccuracy is clipped to 500, set invalid if so
      gps.flags = 1 if gps.verticalAccuracy != 500 else 0
      if gps.flags:
        want_assistance = False
        stop_download_event.set()
      pm.send('gpsLocation', msg)

    elif log_type == LOG_GNSS_OEMDRE_SVPOLY_REPORT:
      msg = messaging.new_message('qcomGnss', valid=True)
      dat = unpack_svpoly(log_payload)
      dat = relist(dat)
      gnss = msg.qcomGnss
      gnss.logTs = log_time
      gnss.init('drSvPoly')
      poly = gnss.drSvPoly
      for k,v in dat.items():
        if k == "version":
          assert v == 2
        elif k == "flags":
          pass
        else:
          setattr(poly, k, v)

      '''
      # Timestamp glonass polys with GPSTime
      from laika.gps_time import GPSTime, utc_to_gpst, get_leap_seconds
      from laika.helpers import get_prn_from_nmea_id
      prn = get_prn_from_nmea_id(poly.svId)
      if prn[0] == 'R':
        epoch = GPSTime(current_gps_time.week, (poly.t0 - 3*SECS_IN_HR + SECS_IN_DAY) % (SECS_IN_WEEK) + get_leap_seconds(current_gps_time))
      else:
        epoch = GPSTime(current_gps_time.week, poly.t0)

      # handle week rollover
      if epoch.tow < SECS_IN_DAY and current_gps_time.tow > 6*SECS_IN_DAY:
        epoch.week += 1
      elif epoch.tow > 6*SECS_IN_DAY and current_gps_time.tow < SECS_IN_DAY:
        epoch.week -= 1

      poly.gpsWeek = epoch.week
      poly.gpsTow = epoch.tow
      '''
      pm.send('qcomGnss', msg)

    elif log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]:
      msg = messaging.new_message('qcomGnss', valid=True)

      gnss = msg.qcomGnss
      gnss.logTs = log_time
      gnss.init('measurementReport')
      report = gnss.measurementReport

      if log_type == LOG_GNSS_GPS_MEASUREMENT_REPORT:
        dat = unpack_gps_meas(log_payload)
        sats = log_payload[size_gps_meas:]
        unpack_meas_sv, size_meas_sv = unpack_gps_meas_sv, size_gps_meas_sv
        report.source = 0  # gps
        measurement_status_fields = (measurementStatusFields.items(), measurementStatusGPSFields.items())
      elif log_type == LOG_GNSS_GLONASS_MEASUREMENT_REPORT:
        dat = unpack_glonass_meas(log_payload)
        sats = log_payload[size_glonass_meas:]
        unpack_meas_sv, size_meas_sv = unpack_glonass_meas_sv, size_glonass_meas_sv
        report.source = 1  # glonass
        measurement_status_fields = (measurementStatusFields.items(), measurementStatusGlonassFields.items())
      else:
        raise RuntimeError(f"invalid log_type: {log_type}")

      for k,v in dat.items():
        if k == "version":
          assert v == 0
        elif k == "week":
          report.gpsWeek = v
        elif k == "svCount":
          pass
        else:
          setattr(report, k, v)
      report.init('sv', dat['svCount'])
      if dat['svCount'] > 0:
        assert len(sats)//dat['svCount'] == size_meas_sv
        for i in range(dat['svCount']):
          sv = report.sv[i]
          sv.init('measurementStatus')
          sat = unpack_meas_sv(sats[size_meas_sv*i:size_meas_sv*(i+1)])
          for k,v in sat.items():
            if k == "parityErrorCount":
              sv.gpsParityErrorCount = v
            elif k == "frequencyIndex":
              sv.glonassFrequencyIndex = v
            elif k == "hemmingErrorCount":
              sv.glonassHemmingErrorCount = v
            elif k == "measurementStatus":
              for kk,vv in itertools.chain(*measurement_status_fields):
                setattr(sv.measurementStatus, kk, bool(v & (1<<vv)))
            elif k == "miscStatus":
              for kk,vv in miscStatusFields.items():
                setattr(sv.measurementStatus, kk, bool(v & (1<<vv)))
            elif k == "pad":
              pass
            else:
              setattr(sv, k, v)

      pm.send('qcomGnss', msg)

if __name__ == "__main__":
  main()