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
import json
import os
import math
import time
import binascii
import requests
import serial
import subprocess
class LPAError(RuntimeError):
pass
class LPAProfileNotFoundError(LPAError):
pass
class LPA2:
def __init__(self):
self.env = os.environ.copy()
self.env['LPAC_APDU'] = 'qmi'
self.env['QMI_DEVICE'] = '/dev/cdc-wdm0'
self.timeout_sec = 45
def list_profiles(self) -> list[dict[str, str]]:
msgs = self._invoke('profile', 'list')
self.validate_successful(msgs)
profiles = []
for profile in msgs[-1]['payload']['data']:
profiles.append({
'iccid': profile['iccid'],
'isdp_aid': profile['isdpAid'],
'nickname': profile['profileNickname'],
'enabled': profile['profileState'] == 'enabled',
'provider': profile['serviceProviderName'],
})
return profiles
def get_active_profile(self) -> dict[str, str] | None:
profiles = self.list_profiles()
for profile in profiles:
if profile['enabled']:
return profile
return None
def process_notifications(self) -> None:
"""
Process notifications from the LPA, typically to activate/deactivate the profile with the carrier.
"""
self.validate_successful(self._invoke('notification', 'process', '-a', '-r'))
def enable_profile(self, iccid: str) -> None:
self.validate_profile_exists(iccid)
latest = self.get_active_profile()
if latest is None:
raise LPAError('no profile enabled')
if latest['iccid'] == iccid:
raise LPAError(f'profile {iccid} is already enabled')
else:
self.disable_profile(latest['iccid'])
self.validate_successful(self._invoke('profile', 'enable', iccid))
self.process_notifications()
def disable_profile(self, iccid: str) -> None:
self.validate_profile_exists(iccid)
latest = self.get_active_profile()
if latest is None:
raise LPAError('no profile enabled')
if latest['iccid'] != iccid:
raise LPAError(f'profile {iccid} is not enabled')
self.validate_successful(self._invoke('profile', 'disable', iccid))
self.process_notifications()
def delete_profile(self, iccid: str) -> None:
self.validate_profile_exists(iccid)
latest = self.get_active_profile()
if latest is not None and latest['iccid'] == iccid:
self.disable_profile(iccid)
self.validate_successful(self._invoke('profile', 'delete', iccid))
self.process_notifications()
def download_profile(self, qr: str, nickname: str | None = None) -> None:
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)
if new_profile is None:
raise LPAError('no new profile found')
if nickname:
self.nickname_profile(new_profile['payload']['data']['iccid'], nickname)
self.process_notifications()
def nickname_profile(self, iccid: str, nickname: str) -> None:
self.validate_profile_exists(iccid)
self.validate_successful(self._invoke('profile', 'nickname', iccid, nickname))
def validate_profile_exists(self, iccid: str) -> None:
if not any(p['iccid'] == iccid for p in self.list_profiles()):
raise LPAProfileNotFoundError(f'profile {iccid} does not exist')
def validate_successful(self, msgs: list[dict]) -> None:
assert msgs[-1]['payload']['message'] == 'success', 'expected success notification'
def _invoke(self, *cmd: str):
ret = subprocess.Popen(['sudo', '-E', 'lpac'] + list(cmd), shell=False, stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=self.env)
try:
out, err = ret.communicate(timeout=self.timeout_sec)
except subprocess.TimeoutExpired as e:
ret.kill()
raise LPAError(f"lpac {cmd} timed out after {self.timeout_sec} seconds") from e
messages = []
for line in out.decode().strip().splitlines():
if line.startswith('{'):
message = json.loads(line)
# lpac response format validations
assert 'type' in message, 'expected type in message'
assert message['type'] == 'lpa' or message['type'] == 'progress', 'expected lpa or progress message type'
assert 'payload' in message, 'expected payload in message'
assert 'code' in message['payload'], 'expected code in message payload'
if message['payload']['code'] != 0:
raise LPAError(f"lpac {' '.join(cmd)} failed with code {message['payload']['code']}: <{message['payload']['message']}> {message['payload']['data']}")
assert 'data' in message['payload'], 'expected data in message payload'
messages.append(message)
if len(messages) == 0:
raise LPAError(f"lpac {cmd} returned no messages")
return messages
def post(url, payload):
print()
print("POST to", url)
r = requests.post(
url,
data=payload,
verify=False,
headers={
"Content-Type": "application/json",
"X-Admin-Protocol": "gsma/rsp/v2.2.0",
"charset": "utf-8",
"User-Agent": "gsma-rsp-lpad",
},
)
print("resp", r)
print("resp text", repr(r.text))
print()
r.raise_for_status()
ret = f"HTTP/1.1 {r.status_code}"
ret += ''.join(f"{k}: {v}" for k, v in r.headers.items() if k != 'Connection')
return ret.encode() + r.content
class LPA:
def __init__(self):
self.dev = serial.Serial('/dev/ttyUSB2', baudrate=57600, timeout=1, bytesize=8)
self.dev.reset_input_buffer()
self.dev.reset_output_buffer()
assert "OK" in self.at("AT")
def at(self, cmd):
print(f"==> {cmd}")
self.dev.write(cmd.encode() + b'\r\n')
r = b""
cnt = 0
while b"OK" not in r and b"ERROR" not in r and cnt < 20:
r += self.dev.read(8192).strip()
cnt += 1
r = r.decode()
print(f"<== {repr(r)}")
return r
def download_ota(self, qr):
return self.at(f'AT+QESIM="ota","{qr}"')
def download(self, qr):
smdp = qr.split('$')[1]
out = self.at(f'AT+QESIM="download","{qr}"')
for _ in range(5):
line = out.split("+QESIM: ")[1].split("\r\n\r\nOK")[0]
parts = [x.strip().strip('"') for x in line.split(',', maxsplit=4)]
print(repr(parts))
trans, ret, url, payloadlen, payload = parts
assert trans == "trans" and ret == "0"
assert len(payload) == int(payloadlen)
r = post(f"https://{smdp}/{url}", payload)
to_send = binascii.hexlify(r).decode()
chunk_len = 1400
for i in range(math.ceil(len(to_send) / chunk_len)):
state = 1 if (i+1)*chunk_len < len(to_send) else 0
data = to_send[i * chunk_len : (i+1)*chunk_len]
out = self.at(f'AT+QESIM="trans",{len(to_send)},{state},{i},{len(data)},"{data}"')
assert "OK" in out
if '+QESIM:"download",1' in out:
raise Exception("profile install failed")
elif '+QESIM:"download",0' in out:
print("done, successfully loaded")
break
def enable(self, iccid):
self.at(f'AT+QESIM="enable","{iccid}"')
def disable(self, iccid):
self.at(f'AT+QESIM="disable","{iccid}"')
def delete(self, iccid):
self.at(f'AT+QESIM="delete","{iccid}"')
def list_profiles(self):
out = self.at('AT+QESIM="list"')
return out.strip().splitlines()[1:]
if __name__ == "__main__":
import sys
lpa = LPA2()
print(lpa.list_profiles())
if len(sys.argv) > 2:
if sys.argv[1] == 'enable':
lpa.enable_profile(sys.argv[2])
elif sys.argv[1] == 'disable':
lpa.disable_profile(sys.argv[2])
elif sys.argv[1] == 'delete':
lpa.delete_profile(sys.argv[2])
elif sys.argv[1] == 'download':
assert len(sys.argv) == 4, 'expected profile nickname'
lpa.download_profile(sys.argv[2], sys.argv[3])
else:
raise Exception(f"invalid command: {sys.argv[1]}")
if "RESTART" in os.environ:
subprocess.check_call("sudo systemctl stop ModemManager", shell=True)
subprocess.check_call("/usr/comma/lte/lte.sh stop_blocking", shell=True)
subprocess.check_call("/usr/comma/lte/lte.sh start", shell=True)
while not os.path.exists('/dev/ttyUSB2'):
time.sleep(1)