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pigeond.py
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#!/usr/bin/env python3
import sys
import time
import signal
import serial
import struct
import requests
import urllib.parse
from datetime import datetime, UTC
from cereal import messaging
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog
from openpilot.system.hardware import TICI
from openpilot.common.gpio import gpio_init, gpio_set
from openpilot.system.hardware.tici.pins import GPIO
UBLOX_TTY = "/dev/ttyHS0"
UBLOX_ACK = b"\xb5\x62\x05\x01\x02\x00"
UBLOX_NACK = b"\xb5\x62\x05\x00\x02\x00"
UBLOX_SOS_ACK = b"\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x01\x00\x00\x00"
UBLOX_SOS_NACK = b"\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x00\x00\x00\x00"
UBLOX_BACKUP_RESTORE_MSG = b"\xb5\x62\x09\x14\x08\x00\x03"
UBLOX_ASSIST_ACK = b"\xb5\x62\x13\x60\x08\x00"
def set_power(enabled: bool) -> None:
gpio_init(GPIO.UBLOX_SAFEBOOT_N, True)
gpio_init(GPIO.GNSS_PWR_EN, True)
gpio_init(GPIO.UBLOX_RST_N, True)
gpio_set(GPIO.UBLOX_SAFEBOOT_N, True)
gpio_set(GPIO.GNSS_PWR_EN, enabled)
gpio_set(GPIO.UBLOX_RST_N, enabled)
def add_ubx_checksum(msg: bytes) -> bytes:
A = B = 0
for b in msg[2:]:
A = (A + b) % 256
B = (B + A) % 256
return msg + bytes([A, B])
def get_assistnow_messages(token: bytes) -> list[bytes]:
# make request
# TODO: implement adding the last known location
r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({
'token': token,
'gnss': 'gps,glo',
'datatype': 'eph,alm,aux',
}, safe=':,'), timeout=5)
assert r.status_code == 200, "Got invalid status code"
dat = r.content
# split up messages
msgs = []
while len(dat) > 0:
assert dat[:2] == b"\xB5\x62"
msg_len = 6 + (dat[5] << 8 | dat[4]) + 2
msgs.append(dat[:msg_len])
dat = dat[msg_len:]
return msgs
class TTYPigeon:
def __init__(self):
self.tty = serial.VTIMESerial(UBLOX_TTY, baudrate=9600, timeout=0)
def send(self, dat: bytes) -> None:
self.tty.write(dat)
def receive(self) -> bytes:
dat = b''
while len(dat) < 0x1000:
d = self.tty.read(0x40)
dat += d
if len(d) == 0:
break
return dat
def set_baud(self, baud: int) -> None:
self.tty.baudrate = baud
def wait_for_ack(self, ack: bytes = UBLOX_ACK, nack: bytes = UBLOX_NACK, timeout: float = 0.5) -> bool:
dat = b''
st = time.monotonic()
while True:
dat += self.receive()
if ack in dat:
cloudlog.debug("Received ACK from ublox")
return True
elif nack in dat:
cloudlog.error("Received NACK from ublox")
return False
elif time.monotonic() - st > timeout:
cloudlog.error("No response from ublox")
raise TimeoutError('No response from ublox')
time.sleep(0.001)
def send_with_ack(self, dat: bytes, ack: bytes = UBLOX_ACK, nack: bytes = UBLOX_NACK) -> None:
self.send(dat)
self.wait_for_ack(ack, nack)
def wait_for_backup_restore_status(self, timeout: float = 1.) -> int:
dat = b''
st = time.monotonic()
while True:
dat += self.receive()
position = dat.find(UBLOX_BACKUP_RESTORE_MSG)
if position >= 0 and len(dat) >= position + 11:
return dat[position + 10]
elif time.monotonic() - st > timeout:
cloudlog.error("No backup restore response from ublox")
raise TimeoutError('No response from ublox')
time.sleep(0.001)
def reset_device(self) -> bool:
# deleting the backup does not always work on first try (mostly on second try)
for _ in range(5):
# device cold start
self.send(b"\xb5\x62\x06\x04\x04\x00\xff\xff\x00\x00\x0c\x5d")
time.sleep(1) # wait for cold start
init_baudrate(self)
# clear configuration
self.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\xd7")
# clear flash memory (almanac backup)
self.send_with_ack(b"\xB5\x62\x09\x14\x04\x00\x01\x00\x00\x00\x22\xf0")
# try restoring backup to verify it got deleted
self.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60")
# 1: failed to restore, 2: could restore, 3: no backup
status = self.wait_for_backup_restore_status()
if status == 1 or status == 3:
return True
return False
def init_baudrate(pigeon: TTYPigeon):
# ublox default setting on startup is 9600 baudrate
pigeon.set_baud(9600)
# $PUBX,41,1,0007,0003,460800,0*15\r\n
pigeon.send(b"\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A")
time.sleep(0.1)
pigeon.set_baud(460800)
def initialize_pigeon(pigeon: TTYPigeon) -> bool:
# try initializing a few times
for _ in range(10):
try:
# setup port config
pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F")
pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35")
pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80")
pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85")
pigeon.send_with_ack(b"\xb5\x62\x06\x00\x00\x00\x06\x18")
pigeon.send_with_ack(b"\xb5\x62\x06\x00\x01\x00\x01\x08\x22")
pigeon.send_with_ack(b"\xb5\x62\x06\x00\x01\x00\x03\x0A\x24")
# UBX-CFG-RATE (0x06 0x08)
pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
# UBX-CFG-NAV5 (0x06 0x24)
pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
# UBX-CFG-ODO (0x06 0x1E)
pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C")
pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24")
# UBX-CFG-NAV5 (0x06 0x24)
pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")
pigeon.send_with_ack(b"\xB5\x62\x06\x23\x00\x00\x29\x81")
pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x00\x00\x24\x72")
pigeon.send_with_ack(b"\xB5\x62\x06\x39\x00\x00\x3F\xC3")
# UBX-CFG-MSG (set message rate)
pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51")
pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70")
pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70")
pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74")
pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x35\x01\x41\xAD")
cloudlog.debug("pigeon configured")
# try restoring almanac backup
pigeon.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60")
restore_status = pigeon.wait_for_backup_restore_status()
if restore_status == 2:
cloudlog.warning("almanac backup restored")
elif restore_status == 3:
cloudlog.warning("no almanac backup found")
else:
cloudlog.error(f"failed to restore almanac backup, status: {restore_status}")
# sending time to ublox
t_now = datetime.now(UTC).replace(tzinfo=None)
if t_now >= datetime(2021, 6, 1):
cloudlog.warning("Sending current time to ublox")
# UBX-MGA-INI-TIME_UTC
msg = add_ubx_checksum(b"\xB5\x62\x13\x40\x18\x00" + struct.pack("<BBBBHBBBBBxIHxxI",
0x10,
0x00,
0x00,
0x80,
t_now.year,
t_now.month,
t_now.day,
t_now.hour,
t_now.minute,
t_now.second,
0,
30,
0
))
pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
# try getting AssistNow if we have a token
token = Params().get('AssistNowToken')
if token is not None:
try:
for msg in get_assistnow_messages(token):
pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
cloudlog.warning("AssistNow messages sent")
except Exception:
cloudlog.warning("failed to get AssistNow messages")
cloudlog.warning("Pigeon GPS on!")
break
except TimeoutError:
cloudlog.warning("Initialization failed, trying again!")
else:
cloudlog.warning("Failed to initialize pigeon")
return False
return True
def deinitialize_and_exit(pigeon: TTYPigeon | None):
cloudlog.warning("Storing almanac in ublox flash")
if pigeon is not None:
# controlled GNSS stop
pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74")
# store almanac in flash
pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC")
try:
if pigeon.wait_for_ack(ack=UBLOX_SOS_ACK, nack=UBLOX_SOS_NACK):
cloudlog.warning("Done storing almanac")
else:
cloudlog.error("Error storing almanac")
except TimeoutError:
pass
# turn off power and exit cleanly
set_power(False)
sys.exit(0)
def create_pigeon() -> tuple[TTYPigeon, messaging.PubMaster]:
pigeon = None
# register exit handler
signal.signal(signal.SIGINT, lambda sig, frame: deinitialize_and_exit(pigeon))
pm = messaging.PubMaster(['ubloxRaw'])
# power cycle ublox
set_power(False)
time.sleep(0.1)
set_power(True)
time.sleep(0.5)
pigeon = TTYPigeon()
return pigeon, pm
def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0):
start_time = time.monotonic()
def end_condition():
return True if duration == 0 else time.monotonic() - start_time < duration
while end_condition():
dat = pigeon.receive()
if len(dat) > 0:
if dat[0] == 0x00:
cloudlog.warning("received invalid data from ublox, re-initing!")
init_baudrate(pigeon)
initialize_pigeon(pigeon)
continue
# send out to socket
msg = messaging.new_message('ubloxRaw', len(dat), valid=True)
msg.ubloxRaw = dat[:]
pm.send('ubloxRaw', msg)
else:
# prevent locking up a CPU core if ublox disconnects
time.sleep(0.001)
def main():
assert TICI, "unsupported hardware for pigeond"
pigeon, pm = create_pigeon()
init_baudrate(pigeon)
initialize_pigeon(pigeon)
# start receiving data
run_receiving(pigeon, pm)
if __name__ == "__main__":
main()