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thermald: remove panda disconnect logic (#23526) 

* thermald: remove panda disconnect logic

* keep that
pull/23529/head
Willem Melching 2022-01-14 14:13:18 +01:00 committed by GitHub
parent e72eb1d472
commit ed23177898
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 10 additions and 37 deletions
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1
common/params_pyx.pyx
View File

@ -8,7 +8,6 @@ cdef extern from "selfdrive/common/params.h":
cpdef enum ParamKeyType:
PERSISTENT
CLEAR_ON_MANAGER_START
CLEAR_ON_PANDA_DISCONNECT
CLEAR_ON_IGNITION_ON
CLEAR_ON_IGNITION_OFF
ALL

8
common/tests/test_params.py
View File

@ -24,14 +24,6 @@ class TestParams(unittest.TestCase):
self.params.put("CarParams", st)
assert self.params.get("CarParams") == st
def test_params_get_cleared_panda_disconnect(self):
self.params.put("CarParams", "test")
self.params.put("DongleId", "cb38263377b873ee")
assert self.params.get("CarParams") == b"test"
self.params.clear_all(ParamKeyType.CLEAR_ON_PANDA_DISCONNECT)
assert self.params.get("CarParams") is None
assert self.params.get("DongleId") is not None
def test_params_get_cleared_manager_start(self):
self.params.put("CarParams", "test")
self.params.put("DongleId", "cb38263377b873ee")

10
selfdrive/common/params.cc
View File

@ -88,12 +88,12 @@ std::unordered_map<std::string, uint32_t> keys = {
{"AthenadUploadQueue", PERSISTENT},
{"CalibrationParams", PERSISTENT},
{"CarBatteryCapacity", PERSISTENT},
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
{"CarParamsCache", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CarParamsCache", CLEAR_ON_MANAGER_START},
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CommunityFeaturesToggle", PERSISTENT},
{"CompletedTrainingVersion", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DisablePowerDown", PERSISTENT},
{"DisableRadar_Allow", PERSISTENT},
@ -163,7 +163,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"ApiCache_NavDestinations", PERSISTENT},
{"ApiCache_Owner", PERSISTENT},
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"Offroad_ChargeDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
{"Offroad_ChargeDisabled", CLEAR_ON_MANAGER_START },
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
{"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},

7
selfdrive/common/params.h
View File

@ -6,10 +6,9 @@
enum ParamKeyType {
PERSISTENT = 0x02,
CLEAR_ON_MANAGER_START = 0x04,
CLEAR_ON_PANDA_DISCONNECT = 0x08,
CLEAR_ON_IGNITION_ON = 0x10,
CLEAR_ON_IGNITION_OFF = 0x20,
DONT_LOG = 0x40,
CLEAR_ON_IGNITION_ON = 0x08,
CLEAR_ON_IGNITION_OFF = 0x10,
DONT_LOG = 0x20,
ALL = 0xFFFFFFFF
};

21
selfdrive/thermald/thermald.py
View File

@ -13,7 +13,7 @@ import cereal.messaging as messaging
from cereal import log
from common.filter_simple import FirstOrderFilter
from common.numpy_fast import interp
from common.params import Params, ParamKeyType
from common.params import Params
from common.realtime import DT_TRML, sec_since_boot
from common.dict_helpers import strip_deprecated_keys
from selfdrive.controls.lib.alertmanager import set_offroad_alert
@ -185,7 +185,6 @@ def thermald_thread() -> NoReturn:
current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
pandaState_prev = None
should_start_prev = False
in_car = False
handle_fan = None
@ -194,7 +193,6 @@ def thermald_thread() -> NoReturn:
params = Params()
power_monitor = PowerMonitoring()
no_panda_cnt = 0
HARDWARE.initialize_hardware()
thermal_config = HARDWARE.get_thermal_config()
@ -213,15 +211,7 @@ def thermald_thread() -> NoReturn:
if pandaStates is not None and len(pandaStates.pandaStates) > 0:
pandaState = pandaStates.pandaStates[0]
# If we lose connection to the panda, wait 5 seconds before going offroad
if pandaState.pandaType == log.PandaState.PandaType.unknown:
no_panda_cnt += 1
if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
if onroad_conditions["ignition"]:
cloudlog.error("Lost panda connection while onroad")
onroad_conditions["ignition"] = False
else:
no_panda_cnt = 0
if pandaState.pandaType != log.PandaState.PandaType.unknown:
onroad_conditions["ignition"] = pandaState.ignitionLine or pandaState.ignitionCan
in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected
@ -242,13 +232,6 @@ def thermald_thread() -> NoReturn:
setup_eon_fan()
handle_fan = handle_fan_eon
# Handle disconnect
if pandaState_prev is not None:
if pandaState.pandaType == log.PandaState.PandaType.unknown and \
pandaState_prev.pandaType != log.PandaState.PandaType.unknown:
params.clear_all(ParamKeyType.CLEAR_ON_PANDA_DISCONNECT)
pandaState_prev = pandaState
# these are expensive calls. update every 10s
if (count % int(10. / DT_TRML)) == 0:
try: