Turn up brightness a little when UI crashes (#20142)

* implement ui check and brightness set in thermald

* fix bugs

* only set once

* duh

* forgot factor for tici

selfdrive/hardware/base.py

@@ -101,3 +101,7 @@ class HardwareBase:
   @abstractmethod
   def get_thermal_config(self):
     pass
+
+  @abstractmethod
+  def set_screen_brightness(self, percentage):
+    pass

selfdrive/hardware/eon/hardware.py

@@ -348,3 +348,7 @@ class Android(HardwareBase):
 
   def get_thermal_config(self):
     return ThermalConfig(cpu=((5, 7, 10, 12), 10), gpu=((16,), 10), mem=(2, 10), bat=(29, 1000), ambient=(25, 1))
+
+  def set_screen_brightness(self, percentage):
+    with open("/sys/class/leds/lcd-backlight/brightness", "w") as f:
+      f.write(str(int(percentage * 2.55)))

selfdrive/hardware/pc/hardware.py

@@ -76,3 +76,6 @@ class Pc(HardwareBase):
 
   def get_thermal_config(self):
     return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), ambient=(None, 1))
+
+  def set_screen_brightness(self, percentage):
+    pass

selfdrive/hardware/tici/hardware.py

@@ -183,3 +183,7 @@ class Tici(HardwareBase):
 
   def get_thermal_config(self):
     return ThermalConfig(cpu=((1, 2, 3, 4, 5, 6, 7, 8), 1000), gpu=((48,49), 1000), mem=(15, 1000), bat=(None, 1), ambient=(70, 1000))
+
+  def set_screen_brightness(self, percentage):
+    with open("/sys/class/backlight/panel0-backlight/brightness", "w") as f:
+      f.write(str(percentage * 10.23))

selfdrive/thermald/thermald.py

@@ -154,6 +154,7 @@ def thermald_thread():
   pandaState_timeout = int(1000 * 2.5 * DT_TRML)  # 2.5x the expected pandaState frequency
   pandaState_sock = messaging.sub_sock('pandaState', timeout=pandaState_timeout)
   location_sock = messaging.sub_sock('gpsLocationExternal')
+  managerState_sock = messaging.sub_sock('managerState', conflate=True)
 
   fan_speed = 0
   count = 0
@@ -179,6 +180,7 @@ def thermald_thread():
   should_start_prev = False
   handle_fan = None
   is_uno = False
+  ui_running_prev = False
 
   params = Params()
   power_monitor = PowerMonitoring()
@@ -383,6 +385,14 @@ def thermald_thread():
       time.sleep(10)
       HARDWARE.shutdown()
 
+    # If UI has crashed, set the brightness to reasonable non-zero value
+    manager_state = messaging.recv_one_or_none(managerState_sock)
+    if manager_state is not None:
+      ui_running = "ui" in (p.name for p in manager_state.managerState.processes if p.running)
+      if ui_running_prev and not ui_running:
+        HARDWARE.set_screen_brightness(20)
+      ui_running_prev = ui_running
+
     msg.deviceState.chargingError = current_filter.x > 0. and msg.deviceState.batteryPercent < 90  # if current is positive, then battery is being discharged
     msg.deviceState.started = started_ts is not None
     msg.deviceState.startedMonoTime = int(1e9*(started_ts or 0))