Add harness connection as requirement for powerdown (#21087)

* add harness connection as requirement for powerdown

* fix unittests

cereal

@@ -1 +1 @@
-Subproject commit d87e7e56d931413d0625fb765c3142ed6106c47b
+Subproject commit 1681cdbaf0e3f78f0e2643187809cefb693483ac

selfdrive/boardd/boardd.cc

@@ -377,6 +377,7 @@ void panda_state_thread(bool spoofing_started) {
     ps.setFanSpeedRpm(fan_speed_rpm);
     ps.setFaultStatus(cereal::PandaState::FaultStatus(pandaState.fault_status));
     ps.setPowerSaveEnabled((bool)(pandaState.power_save_enabled));
+    ps.setHarnessStatus(cereal::PandaState::HarnessStatus(pandaState.car_harness_status));
 
     // Convert faults bitset to capnp list
     std::bitset<sizeof(pandaState.faults) * 8> fault_bits(pandaState.faults);

selfdrive/thermald/power_monitoring.py

@@ -169,6 +169,7 @@ class PowerMonitoring:
     disable_charging |= (self.car_battery_capacity_uWh <= 0)
     disable_charging &= (not pandaState.pandaState.ignitionLine and not pandaState.pandaState.ignitionCan)
     disable_charging &= (not self.params.get_bool("DisablePowerDown"))
+    disable_charging &= (pandaState.pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected)
     disable_charging |= self.params.get_bool("ForcePowerDown")
     return disable_charging
 

selfdrive/thermald/tests/test_power_monitoring.py

@@ -37,12 +37,13 @@ class TestPowerMonitoring(unittest.TestCase):
     params.delete("CarBatteryCapacity")
     params.delete("DisablePowerDown")
 
-  def mock_pandaState(self, ignition, hw_type, car_voltage=12):
+  def mock_pandaState(self, ignition, hw_type, car_voltage=12, harness_status=log.PandaState.HarnessStatus.normal):
     pandaState = messaging.new_message('pandaState')
     pandaState.pandaState.pandaType = hw_type
     pandaState.pandaState.voltage = car_voltage * 1e3
     pandaState.pandaState.ignitionLine = ignition
     pandaState.pandaState.ignitionCan = False
+    pandaState.pandaState.harnessStatus = harness_status
     return pandaState
 
   # Test to see that it doesn't do anything when pandaState is None
@@ -203,5 +204,23 @@ class TestPowerMonitoring(unittest.TestCase):
           self.assertFalse(pm.should_disable_charging(pandaState, ssb))
       self.assertFalse(pm.should_disable_charging(pandaState, ssb))
 
+  # Test to check policy of not stopping charging when harness is not connected
+  def test_harness_connection(self):
+    global ssb
+    BATT_VOLTAGE = 4
+    BATT_CURRENT = 0 # To stop shutting down for other reasons
+    TEST_TIME = 100
+    with pm_patch("HARDWARE.get_battery_voltage", BATT_VOLTAGE * 1e6), pm_patch("HARDWARE.get_battery_current", BATT_CURRENT * 1e6), \
+    pm_patch("HARDWARE.get_battery_status", "Discharging"), pm_patch("HARDWARE.get_current_power_draw", None):
+      pm = PowerMonitoring()
+      pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
+      pandaState = self.mock_pandaState(False, log.PandaState.PandaType.uno, car_voltage=(VBATT_PAUSE_CHARGING - 1),
+        harness_status=log.PandaState.HarnessStatus.notConnected)
+      for i in range(TEST_TIME):
+        pm.calculate(pandaState)
+        if i % 10 == 0:
+          self.assertFalse(pm.should_disable_charging(pandaState, ssb))
+      self.assertFalse(pm.should_disable_charging(pandaState, ssb))
+
 if __name__ == "__main__":
   unittest.main()