Fan controller cleanup + testing (#23886)
* clean up fan controllers in preparation for testing * add fan controller to release * add some unit tests around the fan controller * subclass ABCpull/23824/merge
Robbe Derks
GitHub
parent
f4c822e8c6
commit
8c971f24e3
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@ -336,6 +336,7 @@ selfdrive/sensord/sensord
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selfdrive/thermald/thermald.py
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selfdrive/thermald/power_monitoring.py
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selfdrive/thermald/fan_controller.py
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selfdrive/test/__init__.py
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selfdrive/test/helpers.py
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@ -0,0 +1,103 @@
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#!/usr/bin/env python3
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import os
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from smbus2 import SMBus
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from abc import ABC, abstractmethod
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from common.realtime import DT_TRML
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from common.numpy_fast import interp
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from selfdrive.swaglog import cloudlog
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from selfdrive.controls.lib.pid import PIController
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class BaseFanController(ABC):
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@abstractmethod
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def update(self, max_cpu_temp: float, ignition: bool) -> int:
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pass
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class EonFanController(BaseFanController):
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# Temp thresholds to control fan speed - high hysteresis
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TEMP_THRS_H = [50., 65., 80., 10000]
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# Temp thresholds to control fan speed - low hysteresis
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TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
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# Fan speed options
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FAN_SPEEDS = [0, 16384, 32768, 65535]
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def __init__(self) -> None:
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super().__init__()
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cloudlog.info("Setting up EON fan handler")
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self.fan_speed = -1
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self.setup_eon_fan()
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def setup_eon_fan(self) -> None:
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os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch")
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def set_eon_fan(self, speed: int) -> None:
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if self.fan_speed != speed:
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# FIXME: this is such an ugly hack to get the right index
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val = speed // 16384
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bus = SMBus(7, force=True)
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try:
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i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
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bus.write_i2c_block_data(0x3d, 0, [i])
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except OSError:
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# tusb320
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if val == 0:
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bus.write_i2c_block_data(0x67, 0xa, [0])
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else:
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bus.write_i2c_block_data(0x67, 0xa, [0x20])
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bus.write_i2c_block_data(0x67, 0x8, [(val - 1) << 6])
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bus.close()
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self.fan_speed = speed
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def update(self, max_cpu_temp: float, ignition: bool) -> int:
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new_speed_h = next(speed for speed, temp_h in zip(self.FAN_SPEEDS, self.TEMP_THRS_H) if temp_h > max_cpu_temp)
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new_speed_l = next(speed for speed, temp_l in zip(self.FAN_SPEEDS, self.TEMP_THRS_L) if temp_l > max_cpu_temp)
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if new_speed_h > self.fan_speed:
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self.set_eon_fan(new_speed_h)
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elif new_speed_l < self.fan_speed:
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self.set_eon_fan(new_speed_l)
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return self.fan_speed
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class UnoFanController(BaseFanController):
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def __init__(self) -> None:
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super().__init__()
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cloudlog.info("Setting up UNO fan handler")
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def update(self, max_cpu_temp: float, ignition: bool) -> int:
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new_speed = int(interp(max_cpu_temp, [40.0, 80.0], [0, 80]))
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if not ignition:
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new_speed = min(30, new_speed)
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return new_speed
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class TiciFanController(BaseFanController):
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def __init__(self) -> None:
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super().__init__()
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cloudlog.info("Setting up TICI fan handler")
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self.last_ignition = False
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self.controller = PIController(k_p=0, k_i=2e-3, k_f=1, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
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def update(self, max_cpu_temp: float, ignition: bool) -> int:
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self.controller.neg_limit = -(80 if ignition else 30)
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self.controller.pos_limit = -(30 if ignition else 0)
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if ignition != self.last_ignition:
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self.controller.reset()
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fan_pwr_out = -int(self.controller.update(
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setpoint=75,
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measurement=max_cpu_temp,
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feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80])
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))
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self.last_ignition = ignition
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return fan_pwr_out
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@ -0,0 +1,58 @@
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#!/usr/bin/env python3
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import unittest
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from unittest.mock import Mock, MagicMock, patch
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from parameterized import parameterized
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with patch("smbus2.SMBus", new=MagicMock()):
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from selfdrive.thermald.fan_controller import EonFanController, UnoFanController, TiciFanController
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ALL_CONTROLLERS = [(EonFanController, ), (UnoFanController,), (TiciFanController,)]
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GEN2_CONTROLLERS = [(UnoFanController,), (TiciFanController,)]
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def patched_controller(controller_class):
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with patch("os.system", new=Mock()):
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return controller_class()
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class TestFanController(unittest.TestCase):
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def wind_up(self, controller, ignition=True):
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for _ in range(1000):
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controller.update(max_cpu_temp=100, ignition=ignition)
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def wind_down(self, controller, ignition=False):
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for _ in range(1000):
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controller.update(max_cpu_temp=10, ignition=ignition)
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@parameterized.expand(ALL_CONTROLLERS)
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def test_hot_onroad(self, controller_class):
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controller = patched_controller(controller_class)
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self.wind_up(controller)
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self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 70)
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@parameterized.expand(GEN2_CONTROLLERS)
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def test_offroad_limits(self, controller_class):
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controller = patched_controller(controller_class)
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self.wind_up(controller)
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self.assertLessEqual(controller.update(max_cpu_temp=100, ignition=False), 30)
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@parameterized.expand(ALL_CONTROLLERS)
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def test_no_fan_wear(self, controller_class):
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controller = patched_controller(controller_class)
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self.wind_down(controller)
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self.assertEqual(controller.update(max_cpu_temp=10, ignition=False), 0)
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@parameterized.expand(GEN2_CONTROLLERS)
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def test_limited(self, controller_class):
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controller = patched_controller(controller_class)
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self.wind_up(controller, ignition=True)
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self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 80)
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@parameterized.expand(ALL_CONTROLLERS)
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def test_windup_speed(self, controller_class):
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controller = patched_controller(controller_class)
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self.wind_down(controller, ignition=True)
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for _ in range(10):
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controller.update(max_cpu_temp=90, ignition=True)
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self.assertGreaterEqual(controller.update(max_cpu_temp=90, ignition=True), 60)
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if __name__ == "__main__":
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unittest.main()
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@ -9,22 +9,20 @@ from pathlib import Path
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from typing import Dict, Optional, Tuple
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import psutil
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from smbus2 import SMBus
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import cereal.messaging as messaging
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from cereal import log
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from common.dict_helpers import strip_deprecated_keys
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from common.filter_simple import FirstOrderFilter
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from common.numpy_fast import interp
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from common.params import Params
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from common.realtime import DT_TRML, sec_since_boot
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from selfdrive.controls.lib.alertmanager import set_offroad_alert
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from selfdrive.controls.lib.pid import PIController
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from selfdrive.hardware import EON, HARDWARE, PC, TICI
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from selfdrive.loggerd.config import get_available_percent
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from selfdrive.statsd import statlog
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from selfdrive.swaglog import cloudlog
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from selfdrive.thermald.power_monitoring import PowerMonitoring
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from selfdrive.thermald.fan_controller import EonFanController, UnoFanController, TiciFanController
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from selfdrive.version import terms_version, training_version
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ThermalStatus = log.DeviceState.ThermalStatus
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@ -73,83 +71,6 @@ def read_thermal(thermal_config):
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return dat
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def setup_eon_fan():
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os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch")
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last_eon_fan_val = None
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def set_eon_fan(val):
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global last_eon_fan_val
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if last_eon_fan_val is None or last_eon_fan_val != val:
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bus = SMBus(7, force=True)
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try:
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i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
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bus.write_i2c_block_data(0x3d, 0, [i])
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except OSError:
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# tusb320
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if val == 0:
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bus.write_i2c_block_data(0x67, 0xa, [0])
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else:
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bus.write_i2c_block_data(0x67, 0xa, [0x20])
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bus.write_i2c_block_data(0x67, 0x8, [(val - 1) << 6])
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bus.close()
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last_eon_fan_val = val
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# temp thresholds to control fan speed - high hysteresis
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_TEMP_THRS_H = [50., 65., 80., 10000]
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# temp thresholds to control fan speed - low hysteresis
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_TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
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# fan speed options
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_FAN_SPEEDS = [0, 16384, 32768, 65535]
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def handle_fan_eon(controller, max_cpu_temp, fan_speed, ignition):
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new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_cpu_temp)
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new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_cpu_temp)
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if new_speed_h > fan_speed:
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# update speed if using the high thresholds results in fan speed increment
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fan_speed = new_speed_h
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elif new_speed_l < fan_speed:
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# update speed if using the low thresholds results in fan speed decrement
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fan_speed = new_speed_l
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set_eon_fan(fan_speed // 16384)
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return fan_speed
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def handle_fan_uno(controller, max_cpu_temp, fan_speed, ignition):
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new_speed = int(interp(max_cpu_temp, [40.0, 80.0], [0, 80]))
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if not ignition:
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new_speed = min(30, new_speed)
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return new_speed
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last_ignition = False
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def handle_fan_tici(controller, max_cpu_temp, fan_speed, ignition):
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global last_ignition
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controller.neg_limit = -(80 if ignition else 30)
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controller.pos_limit = -(30 if ignition else 0)
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if ignition != last_ignition:
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controller.reset()
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fan_pwr_out = -int(controller.update(
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setpoint=75,
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measurement=max_cpu_temp,
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feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80])
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))
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last_ignition = ignition
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return fan_pwr_out
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def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: Optional[str]=None):
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if prev_offroad_states.get(offroad_alert, None) == (show_alert, extra_text):
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return
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@ -202,7 +123,6 @@ def thermald_thread(end_event, hw_queue):
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pm = messaging.PubMaster(['deviceState'])
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sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll=["pandaStates"])
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fan_speed = 0
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count = 0
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onroad_conditions: Dict[str, bool] = {
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@ -229,7 +149,6 @@ def thermald_thread(end_event, hw_queue):
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temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
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should_start_prev = False
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in_car = False
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handle_fan = None
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is_uno = False
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engaged_prev = False
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@ -239,8 +158,7 @@ def thermald_thread(end_event, hw_queue):
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HARDWARE.initialize_hardware()
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thermal_config = HARDWARE.get_thermal_config()
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# TODO: use PI controller for UNO
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controller = PIController(k_p=0, k_i=2e-3, k_f=1, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
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fan_controller = None
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while not end_event.is_set():
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sm.update(PANDA_STATES_TIMEOUT)
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@ -261,19 +179,15 @@ def thermald_thread(end_event, hw_queue):
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usb_power = peripheralState.usbPowerMode != log.PeripheralState.UsbPowerMode.client
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# Setup fan handler on first connect to panda
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if handle_fan is None and peripheralState.pandaType != log.PandaState.PandaType.unknown:
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if fan_controller is None and peripheralState.pandaType != log.PandaState.PandaType.unknown:
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is_uno = peripheralState.pandaType == log.PandaState.PandaType.uno
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if TICI:
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cloudlog.info("Setting up TICI fan handler")
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handle_fan = handle_fan_tici
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fan_controller = TiciFanController()
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elif is_uno or PC:
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cloudlog.info("Setting up UNO fan handler")
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handle_fan = handle_fan_uno
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fan_controller = UnoFanController()
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else:
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cloudlog.info("Setting up EON fan handler")
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setup_eon_fan()
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handle_fan = handle_fan_eon
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fan_controller = EonFanController()
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try:
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last_hw_state = hw_queue.get_nowait()
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@ -303,9 +217,8 @@ def thermald_thread(end_event, hw_queue):
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max(max(msg.deviceState.cpuTempC), msg.deviceState.memoryTempC, max(msg.deviceState.gpuTempC))
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)
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if handle_fan is not None:
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fan_speed = handle_fan(controller, max_comp_temp, fan_speed, onroad_conditions["ignition"])
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msg.deviceState.fanSpeedPercentDesired = fan_speed
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if fan_controller is not None:
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msg.deviceState.fanSpeedPercentDesired = fan_controller.update(max_comp_temp, onroad_conditions["ignition"])
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is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5))
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if is_offroad_for_5_min and max_comp_temp > OFFROAD_DANGER_TEMP:
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