449 lines
15 KiB
Python
449 lines
15 KiB
Python
import json
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import math
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import os
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import subprocess
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from enum import IntEnum
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from functools import cached_property
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from pathlib import Path
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from cereal import log
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from selfdrive.hardware.base import HardwareBase, ThermalConfig
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from selfdrive.hardware.tici import iwlist
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from selfdrive.hardware.tici.amplifier import Amplifier
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NM = 'org.freedesktop.NetworkManager'
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NM_CON_ACT = NM + '.Connection.Active'
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NM_DEV = NM + '.Device'
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NM_DEV_WL = NM + '.Device.Wireless'
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NM_AP = NM + '.AccessPoint'
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DBUS_PROPS = 'org.freedesktop.DBus.Properties'
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MM = 'org.freedesktop.ModemManager1'
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MM_MODEM = MM + ".Modem"
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MM_MODEM_SIMPLE = MM + ".Modem.Simple"
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MM_SIM = MM + ".Sim"
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class MM_MODEM_STATE(IntEnum):
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FAILED = -1
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UNKNOWN = 0
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INITIALIZING = 1
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LOCKED = 2
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DISABLED = 3
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DISABLING = 4
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ENABLING = 5
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ENABLED = 6
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SEARCHING = 7
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REGISTERED = 8
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DISCONNECTING = 9
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CONNECTING = 10
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CONNECTED = 11
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class NMMetered(IntEnum):
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NM_METERED_UNKNOWN = 0
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NM_METERED_YES = 1
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NM_METERED_NO = 2
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NM_METERED_GUESS_YES = 3
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NM_METERED_GUESS_NO = 4
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TIMEOUT = 0.1
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NetworkType = log.DeviceState.NetworkType
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NetworkStrength = log.DeviceState.NetworkStrength
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# https://developer.gnome.org/ModemManager/unstable/ModemManager-Flags-and-Enumerations.html#MMModemAccessTechnology
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MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5
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MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
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class Tici(HardwareBase):
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@cached_property
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def bus(self):
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import dbus # pylint: disable=import-error
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return dbus.SystemBus()
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@cached_property
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def nm(self):
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return self.bus.get_object(NM, '/org/freedesktop/NetworkManager')
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@cached_property
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def mm(self):
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return self.bus.get_object(MM, '/org/freedesktop/ModemManager1')
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@cached_property
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def amplifier(self):
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return Amplifier()
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def get_os_version(self):
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with open("/VERSION") as f:
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return f.read().strip()
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def get_device_type(self):
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return "tici"
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def get_sound_card_online(self):
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return (os.path.isfile('/proc/asound/card0/state') and
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open('/proc/asound/card0/state').read().strip() == 'ONLINE')
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def reboot(self, reason=None):
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subprocess.check_output(["sudo", "reboot"])
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def uninstall(self):
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Path("/data/__system_reset__").touch()
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os.sync()
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self.reboot()
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def get_serial(self):
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return self.get_cmdline()['androidboot.serialno']
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def get_network_type(self):
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try:
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primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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primary_connection = self.bus.get_object(NM, primary_connection)
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primary_type = primary_connection.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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if primary_type == '802-3-ethernet':
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return NetworkType.ethernet
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elif primary_type == '802-11-wireless':
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return NetworkType.wifi
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else:
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active_connections = self.nm.Get(NM, 'ActiveConnections', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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for conn in active_connections:
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c = self.bus.get_object(NM, conn)
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tp = c.Get(NM_CON_ACT, 'Type', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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if tp == 'gsm':
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modem = self.get_modem()
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access_t = modem.Get(MM_MODEM, 'AccessTechnologies', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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if access_t >= MM_MODEM_ACCESS_TECHNOLOGY_LTE:
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return NetworkType.cell4G
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elif access_t >= MM_MODEM_ACCESS_TECHNOLOGY_UMTS:
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return NetworkType.cell3G
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else:
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return NetworkType.cell2G
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except Exception:
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pass
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return NetworkType.none
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def get_modem(self):
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objects = self.mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=TIMEOUT)
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modem_path = list(objects.keys())[0]
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return self.bus.get_object(MM, modem_path)
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def get_wlan(self):
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wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT)
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return self.bus.get_object(NM, wlan_path)
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def get_sim_info(self):
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modem = self.get_modem()
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sim_path = modem.Get(MM_MODEM, 'Sim', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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if sim_path == "/":
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return {
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'sim_id': '',
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'mcc_mnc': None,
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'network_type': ["Unknown"],
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'sim_state': ["ABSENT"],
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'data_connected': False
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}
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else:
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sim = self.bus.get_object(MM, sim_path)
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return {
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'sim_id': str(sim.Get(MM_SIM, 'SimIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
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'mcc_mnc': str(sim.Get(MM_SIM, 'OperatorIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)),
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'network_type': ["Unknown"],
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'sim_state': ["READY"],
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'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED,
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}
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def get_subscriber_info(self):
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return ""
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def get_imei(self, slot):
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if slot != 0:
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return ""
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return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
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def get_network_info(self):
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modem = self.get_modem()
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try:
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info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
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extra = modem.Command('AT+QENG="servingcell"', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
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state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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except Exception:
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return None
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if info and info.startswith('+QNWINFO: '):
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info = info.replace('+QNWINFO: ', '').replace('"', '').split(',')
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extra = "" if extra is None else extra.replace('+QENG: "servingcell",', '').replace('"', '')
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state = "" if state is None else MM_MODEM_STATE(state).name
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if len(info) != 4:
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return None
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technology, operator, band, channel = info
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return({
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'technology': technology,
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'operator': operator,
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'band': band,
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'channel': int(channel),
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'extra': extra,
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'state': state,
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})
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else:
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return None
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def parse_strength(self, percentage):
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if percentage < 25:
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return NetworkStrength.poor
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elif percentage < 50:
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return NetworkStrength.moderate
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elif percentage < 75:
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return NetworkStrength.good
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else:
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return NetworkStrength.great
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def get_network_strength(self, network_type):
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network_strength = NetworkStrength.unknown
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try:
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if network_type == NetworkType.none:
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pass
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elif network_type == NetworkType.wifi:
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wlan = self.get_wlan()
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active_ap_path = wlan.Get(NM_DEV_WL, 'ActiveAccessPoint', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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if active_ap_path != "/":
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active_ap = self.bus.get_object(NM, active_ap_path)
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strength = int(active_ap.Get(NM_AP, 'Strength', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
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network_strength = self.parse_strength(strength)
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else: # Cellular
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modem = self.get_modem()
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strength = int(modem.Get(MM_MODEM, 'SignalQuality', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)[0])
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network_strength = self.parse_strength(strength)
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except Exception:
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pass
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return network_strength
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def get_network_metered(self, network_type) -> bool:
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try:
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primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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primary_connection = self.bus.get_object(NM, primary_connection)
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primary_devices = primary_connection.Get(NM_CON_ACT, 'Devices', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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for dev in primary_devices:
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dev_obj = self.bus.get_object(NM, str(dev))
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metered_prop = dev_obj.Get(NM_DEV, 'Metered', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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if network_type == NetworkType.wifi:
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if metered_prop in [NMMetered.NM_METERED_YES, NMMetered.NM_METERED_GUESS_YES]:
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return True
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elif network_type in [NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G]:
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if metered_prop == NMMetered.NM_METERED_NO:
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return False
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except Exception:
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pass
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return super().get_network_metered(network_type)
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@staticmethod
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def set_bandwidth_limit(upload_speed_kbps: int, download_speed_kbps: int) -> None:
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upload_speed_kbps = int(upload_speed_kbps) # Ensure integer value
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download_speed_kbps = int(download_speed_kbps) # Ensure integer value
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adapter = "wwan0"
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ifb = "ifb0"
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sudo = ["sudo"]
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tc = sudo + ["tc"]
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# check, cmd
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cleanup = [
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# Clean up old rules
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(False, tc + ["qdisc", "del", "dev", adapter, "root"]),
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(False, tc + ["qdisc", "del", "dev", ifb, "root"]),
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(False, tc + ["qdisc", "del", "dev", adapter, "ingress"]),
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(False, tc + ["qdisc", "del", "dev", ifb, "ingress"]),
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# Bring ifb0 down
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(False, sudo + ["ip", "link", "set", "dev", ifb, "down"]),
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]
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upload = [
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# Create root Hierarchy Token Bucket that sends all trafic to 1:20
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(True, tc + ["qdisc", "add", "dev", adapter, "root", "handle", "1:", "htb", "default", "20"]),
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# Create class 1:20 with specified rate limit
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(True, tc + ["class", "add", "dev", adapter, "parent", "1:", "classid", "1:20", "htb", "rate", f"{upload_speed_kbps}kbit"]),
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# Create universal 32 bit filter on adapter that sends all outbound ip traffic through the class
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(True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]),
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]
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download = [
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# Bring ifb0 up
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(True, sudo + ["ip", "link", "set", "dev", ifb, "up"]),
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# Redirect ingress (incoming) to egress ifb0
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(True, tc + ["qdisc", "add", "dev", adapter, "handle", "ffff:", "ingress"]),
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(True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]),
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# Add class and rules for virtual interface
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(True, tc + ["qdisc", "add", "dev", ifb, "root", "handle", "2:", "htb"]),
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(True, tc + ["class", "add", "dev", ifb, "parent", "2:", "classid", "2:1", "htb", "rate", f"{download_speed_kbps}kbit"]),
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# Add filter to rule for IP address
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(True, tc + ["filter", "add", "dev", ifb, "protocol", "ip", "parent", "2:", "prio", "1", "u32", "match", "ip", "src", "0.0.0.0/0", "flowid", "2:1"]),
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]
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commands = cleanup
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if upload_speed_kbps != -1:
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commands += upload
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if download_speed_kbps != -1:
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commands += download
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for check, cmd in commands:
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subprocess.run(cmd, check=check)
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def get_modem_version(self):
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try:
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modem = self.get_modem()
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return modem.Get(MM_MODEM, 'Revision', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
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except Exception:
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return None
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def get_modem_temperatures(self):
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timeout = 0.2 # Default timeout is too short
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try:
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modem = self.get_modem()
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temps = modem.Command("AT+QTEMP", math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)
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return list(map(int, temps.split(' ')[1].split(',')))
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except Exception:
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return []
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def get_nvme_temperatures(self):
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ret = []
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try:
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out = subprocess.check_output("sudo smartctl -aj /dev/nvme0", shell=True)
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dat = json.loads(out)
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ret = list(map(int, dat["nvme_smart_health_information_log"]["temperature_sensors"]))
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except Exception:
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pass
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return ret
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# We don't have a battery, so let's use some sane constants
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def get_battery_capacity(self):
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return 100
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def get_battery_status(self):
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return ""
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def get_battery_current(self):
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return 0
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def get_battery_voltage(self):
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return 0
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def get_battery_charging(self):
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return True
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def set_battery_charging(self, on):
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pass
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def get_usb_present(self):
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# Not sure if relevant on tici, but the file exists
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return self.read_param_file("/sys/class/power_supply/usb/present", lambda x: bool(int(x)), False)
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def get_current_power_draw(self):
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return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
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def shutdown(self):
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# Note that for this to work and have the device stay powered off, the panda needs to be in UsbPowerMode::CLIENT!
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os.system("sudo poweroff")
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def get_thermal_config(self):
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return ThermalConfig(cpu=(["cpu%d-silver-usr" % i for i in range(4)] +
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["cpu%d-gold-usr" % i for i in range(4)], 1000),
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gpu=(("gpu0-usr", "gpu1-usr"), 1000),
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mem=("ddr-usr", 1000),
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bat=(None, 1),
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ambient=("xo-therm-adc", 1000),
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pmic=(("pm8998_tz", "pm8005_tz"), 1000))
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def set_screen_brightness(self, percentage):
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try:
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with open("/sys/class/backlight/panel0-backlight/brightness", "w") as f:
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f.write(str(int(percentage * 10.23)))
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except Exception:
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pass
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def get_screen_brightness(self):
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try:
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with open("/sys/class/backlight/panel0-backlight/brightness") as f:
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return int(float(f.read()) / 10.23)
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except Exception:
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return 0
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def set_power_save(self, powersave_enabled):
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# amplifier, 100mW at idle
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self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
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if not powersave_enabled:
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self.amplifier.initialize_configuration()
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# offline big cluster, leave core 4 online for boardd
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for i in range(5, 8):
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# TODO: fix permissions with udev
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val = "0" if powersave_enabled else "1"
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os.system(f"sudo su -c 'echo {val} > /sys/devices/system/cpu/cpu{i}/online'")
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for n in ('0', '4'):
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gov = 'userspace' if powersave_enabled else 'performance'
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os.system(f"sudo su -c 'echo {gov} > /sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor'")
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if powersave_enabled:
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os.system(f"sudo su -c 'echo 979200 > /sys/devices/system/cpu/cpufreq/policy{n}/scaling_setspeed'")
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def get_gpu_usage_percent(self):
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try:
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used, total = open('/sys/class/kgsl/kgsl-3d0/gpubusy').read().strip().split()
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return 100.0 * int(used) / int(total)
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except Exception:
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return 0
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def initialize_hardware(self):
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self.amplifier.initialize_configuration()
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# Allow thermald to write engagement status to kmsg
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os.system("sudo chmod a+w /dev/kmsg")
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# setup governors
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os.system("sudo su -c 'echo performance > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'")
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os.system("sudo su -c 'echo performance > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'")
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def get_networks(self):
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r = {}
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wlan = iwlist.scan()
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if wlan is not None:
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r['wlan'] = wlan
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lte_info = self.get_network_info()
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if lte_info is not None:
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extra = lte_info['extra']
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# <state>,"LTE",<is_tdd>,<mcc>,<mnc>,<cellid>,<pcid>,<earfcn>,<freq_band_ind>,
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# <ul_bandwidth>,<dl_bandwidth>,<tac>,<rsrp>,<rsrq>,<rssi>,<sinr>,<srxlev>
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if 'LTE' in extra:
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extra = extra.split(',')
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try:
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r['lte'] = [{
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"mcc": int(extra[3]),
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"mnc": int(extra[4]),
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"cid": int(extra[5], 16),
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"nmr": [{"pci": int(extra[6]), "earfcn": int(extra[7])}],
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}]
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except (ValueError, IndexError):
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pass
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return r
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