manager tests + make all processes exit cleanly (#19595)
* manager tests * logcatd exits cleanly * sigint * boardd * multiple dbus connections hangs for some reason * clocksd proclogd * network type from thermal * fix tests * fix android logcatd * fix mac * fix mac proclogd * move on device athena tests * build first * build first Co-authored-by: Comma Device <device@comma.ai>pull/19625/head
Adeeb Shihadeh
GitHub
parent
58c20ee21d
commit
ffa7e0cbdb
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@ -111,9 +111,11 @@ pipeline {
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}
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steps {
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phone_steps("eon", [
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["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
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["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
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["build", "SCONS_CACHE=1 scons -j4"],
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["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
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["test manager", "python selfdrive/test/test_manager.py"],
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["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
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["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
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["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
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["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
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["test text window build", "cd selfdrive/ui/text && make clean && make"],
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@ -56,7 +56,7 @@ export PYTHONPATH="/data/openpilot:/data/openpilot/pyextra"
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SCONS_CACHE=1 scons -j3
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# Run tests
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nosetests -s selfdrive/test/test_openpilot.py
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python selfdrive/test/test_manager.py
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selfdrive/car/tests/test_car_interfaces.py
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# Cleanup
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@ -338,9 +338,9 @@ selfdrive/thermald/power_monitoring.py
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selfdrive/test/__init__.py
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selfdrive/test/helpers.py
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selfdrive/test/setup_device_ci.sh
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selfdrive/test/test_openpilot.py
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selfdrive/test/test_fingerprints.py
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selfdrive/test/test_cpu_usage.py
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selfdrive/test/test_fingerprints.py
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selfdrive/test/test_manager.py
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selfdrive/ui/SConscript
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selfdrive/ui/*.cc
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@ -16,7 +16,7 @@ from websocket._exceptions import WebSocketConnectionClosedException
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from selfdrive.athena import athenad
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from selfdrive.athena.athenad import dispatcher
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from selfdrive.athena.test_helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
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from selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
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from cereal import messaging
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class TestAthenadMethods(unittest.TestCase):
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@ -1,62 +1,23 @@
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# flake8: noqa
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import os
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os.environ['FAKEUPLOAD'] = "1"
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from common.params import Params
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from common.realtime import sec_since_boot
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from selfdrive.manager import manager_init, manager_prepare, start_daemon_process
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from selfdrive.test.helpers import phone_only, with_processes, set_params_enabled
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#!/usr/bin/env python3
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import json
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import os
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import requests
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import signal
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import subprocess
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import time
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os.environ['FAKEUPLOAD'] = "1"
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# must run first
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@phone_only
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def test_manager_prepare():
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set_params_enabled()
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manager_init()
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manager_prepare()
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from common.params import Params
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from common.realtime import sec_since_boot
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import selfdrive.manager as manager
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from selfdrive.test.helpers import with_processes
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@phone_only
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@with_processes(['loggerd', 'logmessaged', 'tombstoned', 'proclogd', 'logcatd'])
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def test_logging():
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print("LOGGING IS SET UP")
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time.sleep(1.0)
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@phone_only
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@with_processes(['camerad', 'modeld', 'dmonitoringmodeld'])
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def test_visiond():
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print("VISIOND IS SET UP")
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time.sleep(5.0)
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@phone_only
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@with_processes(['sensord'])
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def test_sensord():
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print("SENSORS ARE SET UP")
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time.sleep(1.0)
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@phone_only
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@with_processes(['ui'])
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def test_ui():
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print("RUNNING UI")
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time.sleep(1.0)
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# will have one thing to upload if loggerd ran
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# TODO: assert it actually uploaded
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@phone_only
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@with_processes(['uploader'])
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def test_uploader():
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print("UPLOADER")
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time.sleep(10.0)
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@phone_only
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def test_athena():
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print("ATHENA")
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start = sec_since_boot()
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start_daemon_process("manage_athenad")
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manager.start_daemon_process("manage_athenad")
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params = Params()
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manage_athenad_pid = params.get("AthenadPid")
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assert manage_athenad_pid is not None
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@ -170,9 +131,4 @@ def test_athena():
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except (OSError, TypeError):
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pass
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# TODO: re-enable when jenkins test has /data/pythonpath -> /data/openpilot
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# @phone_only
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# @with_apks()
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# def test_apks():
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# print("APKS")
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# time.sleep(14.0)
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@ -39,12 +39,16 @@
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Panda * panda = NULL;
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std::atomic<bool> safety_setter_thread_running(false);
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volatile sig_atomic_t do_exit = 0;
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bool spoofing_started = false;
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bool fake_send = false;
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bool connected_once = false;
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bool ignition = false;
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volatile sig_atomic_t do_exit = 0;
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static void set_do_exit(int sig) {
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do_exit = 1;
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}
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struct tm get_time(){
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time_t rawtime;
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time(&rawtime);
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@ -278,7 +282,7 @@ void can_health_thread() {
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Params params = Params();
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// Broadcast empty health message when panda is not yet connected
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while (!panda){
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while (!do_exit && !panda) {
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MessageBuilder msg;
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auto healthData = msg.initEvent().initHealth();
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@ -521,6 +525,10 @@ int main() {
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err = set_core_affinity(3);
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LOG("set affinity returns %d", err);
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// setup signal handlers
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signal(SIGINT, (sighandler_t)set_do_exit);
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signal(SIGTERM, (sighandler_t)set_do_exit);
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// check the environment
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if (getenv("STARTED")) {
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spoofing_started = true;
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@ -1,21 +1,30 @@
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#include <chrono>
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#include <thread>
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#include <stdio.h>
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#include <stdint.h>
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#include <signal.h>
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#include <unistd.h>
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#include <sys/resource.h>
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#include <sys/time.h>
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#include <cassert>
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#include "messaging.hpp"
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#include "common/timing.h"
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// Apple doesn't have timerfd
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#ifndef __APPLE__
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#ifdef __APPLE__
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#include <thread>
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#else
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#include <sys/timerfd.h>
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#endif
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#include <cassert>
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#include <chrono>
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#include "messaging.hpp"
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#include "common/timing.h"
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#include "common/util.h"
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volatile sig_atomic_t do_exit = 0;
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static void set_do_exit(int sig) {
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do_exit = 1;
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}
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#ifdef QCOM
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namespace {
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int64_t arm_cntpct() {
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@ -29,6 +38,9 @@ namespace {
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int main() {
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setpriority(PRIO_PROCESS, 0, -13);
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signal(SIGINT, (sighandler_t)set_do_exit);
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signal(SIGTERM, (sighandler_t)set_do_exit);
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PubMaster pm({"clocks"});
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#ifndef __APPLE__
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@ -45,11 +57,11 @@ int main() {
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assert(err == 0);
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uint64_t expirations = 0;
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while ((err = read(timerfd, &expirations, sizeof(expirations)))) {
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while (!do_exit && (err = read(timerfd, &expirations, sizeof(expirations)))) {
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if (err < 0) break;
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#else
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// Just run at 1Hz on apple
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while (true){
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while (!do_exit){
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std::this_thread::sleep_for(std::chrono::seconds(1));
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#endif
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@ -1,6 +1,7 @@
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#include <cstdio>
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#include <cstdlib>
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#include <cassert>
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#include <csignal>
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#include <android/log.h>
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//#include <log/log.h>
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@ -10,9 +11,18 @@
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#include "common/timing.h"
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#include "messaging.hpp"
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volatile sig_atomic_t do_exit = 0;
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static void set_do_exit(int sig) {
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do_exit = 1;
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}
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int main() {
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int err;
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// setup signal handlers
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signal(SIGINT, (sighandler_t)set_do_exit);
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signal(SIGTERM, (sighandler_t)set_do_exit);
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struct logger_list *logger_list = android_logger_list_alloc(ANDROID_LOG_RDONLY, 0, 0);
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assert(logger_list);
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struct logger *main_logger = android_logger_open(logger_list, LOG_ID_MAIN);
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@ -27,7 +37,7 @@ int main() {
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assert(kernel_logger);
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PubMaster pm({"androidLog"});
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while (1) {
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while (!do_exit) {
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log_msg log_msg;
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err = android_logger_list_read(logger_list, &log_msg);
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if (err <= 0) {
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@ -1,5 +1,6 @@
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#include <iostream>
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#include <cassert>
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#include <csignal>
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#include <string>
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#include <map>
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@ -9,7 +10,18 @@
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#include "common/timing.h"
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#include "messaging.hpp"
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volatile sig_atomic_t do_exit = 0;
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static void set_do_exit(int sig) {
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do_exit = 1;
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}
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int main(int argc, char *argv[]) {
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// setup signal handlers
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signal(SIGINT, (sighandler_t)set_do_exit);
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signal(SIGTERM, (sighandler_t)set_do_exit);
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PubMaster pm({"androidLog"});
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sd_journal *journal;
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@ -18,16 +30,18 @@ int main(int argc, char *argv[]) {
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assert(sd_journal_seek_tail(journal) >= 0);
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int r;
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while (true) {
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while (!do_exit) {
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r = sd_journal_next(journal);
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assert(r >= 0);
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// Wait for new message if we didn't receive anything
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if (r == 0){
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do {
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r = sd_journal_wait(journal, (uint64_t)-1);
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r = sd_journal_wait(journal, 1000 * 1000);
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assert(r >= 0);
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} while (r == SD_JOURNAL_NOP);
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} while (r == SD_JOURNAL_NOP && !do_exit);
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if (do_exit) break;
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r = sd_journal_next(journal);
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assert(r >= 0);
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@ -74,9 +74,8 @@ class UploaderTestCase(unittest.TestCase):
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uploader.ROOT = self.root # Monkey patch root dir
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uploader.Api = MockApi
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uploader.Params = MockParams
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uploader.fake_upload = 1
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uploader.is_on_hotspot = lambda *args: False
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uploader.is_on_wifi = lambda *args: True
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uploader.fake_upload = True
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uploader.force_wifi = True
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self.seg_num = random.randint(1, 300)
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self.seg_format = "2019-04-18--12-52-54--{}"
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self.seg_format2 = "2019-05-18--11-22-33--{}"
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@ -1,6 +1,4 @@
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#!/usr/bin/env python3
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import ctypes
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import inspect
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import json
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import os
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import random
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@ -10,9 +8,9 @@ import time
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import traceback
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from cereal import log
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import cereal.messaging as messaging
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from common.api import Api
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from common.params import Params
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from selfdrive.hardware import HARDWARE
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from selfdrive.loggerd.xattr_cache import getxattr, setxattr
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from selfdrive.loggerd.config import ROOT
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from selfdrive.swaglog import cloudlog
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@ -21,31 +19,10 @@ NetworkType = log.ThermalData.NetworkType
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UPLOAD_ATTR_NAME = 'user.upload'
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UPLOAD_ATTR_VALUE = b'1'
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force_wifi = os.getenv("FORCEWIFI") is not None
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fake_upload = os.getenv("FAKEUPLOAD") is not None
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def raise_on_thread(t, exctype):
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'''Raises an exception in the threads with id tid'''
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for ctid, tobj in threading._active.items():
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if tobj is t:
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tid = ctid
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break
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else:
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raise Exception("Could not find thread")
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if not inspect.isclass(exctype):
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raise TypeError("Only types can be raised (not instances)")
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res = ctypes.pythonapi.PyThreadState_SetAsyncExc(ctypes.c_long(tid),
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ctypes.py_object(exctype))
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if res == 0:
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raise ValueError("invalid thread id")
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elif res != 1:
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# "if it returns a number greater than one, you're in trouble,
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# and you should call it again with exc=NULL to revert the effect"
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ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, 0)
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raise SystemError("PyThreadState_SetAsyncExc failed")
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def get_directory_sort(d):
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return list(map(lambda s: s.rjust(10, '0'), d.rsplit('--', 1)))
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|
@ -68,8 +45,6 @@ def clear_locks(root):
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except OSError:
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cloudlog.exception("clear_locks failed")
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|
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def is_on_wifi():
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return HARDWARE.get_network_type() == NetworkType.wifi
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|
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class Uploader():
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def __init__(self, dongle_id, root):
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|
|
@ -221,17 +196,15 @@ def uploader_fn(exit_event):
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cloudlog.info("uploader missing dongle_id")
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raise Exception("uploader can't start without dongle id")
|
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|
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sm = messaging.SubMaster(['thermal'])
|
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uploader = Uploader(dongle_id, ROOT)
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|
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backoff = 0.1
|
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counter = 0
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on_wifi = False
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while not exit_event.is_set():
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sm.update(0)
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on_wifi = force_wifi or sm['thermal'].networkType == NetworkType.wifi
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offroad = params.get("IsOffroad") == b'1'
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allow_raw_upload = (params.get("IsUploadRawEnabled") != b"0") and offroad
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if offroad and counter % 12 == 0:
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on_wifi = is_on_wifi()
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counter += 1
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||||
allow_raw_upload = params.get("IsUploadRawEnabled") != b"0"
|
||||
|
||||
d = uploader.next_file_to_upload(with_raw=allow_raw_upload and on_wifi and offroad)
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if d is None: # Nothing to upload
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||||
|
|
|
|||
|
|
@ -13,7 +13,7 @@ import time
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|||
import traceback
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||||
|
||||
from multiprocessing import Process
|
||||
from typing import Dict, List
|
||||
from typing import Dict
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||||
|
||||
from common.basedir import BASEDIR
|
||||
from common.spinner import Spinner
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||||
|
|
@ -192,13 +192,15 @@ def get_running():
|
|||
# due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
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||||
unkillable_processes = ['camerad']
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||||
|
||||
# processes to end with SIGINT instead of SIGTERM
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||||
interrupt_processes: List[str] = []
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|
||||
# processes to end with SIGKILL instead of SIGTERM
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kill_processes = ['sensord']
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||||
kill_processes = []
|
||||
if EON:
|
||||
kill_processes += [
|
||||
'sensord',
|
||||
]
|
||||
|
||||
persistent_processes = [
|
||||
'pandad',
|
||||
'thermald',
|
||||
'logmessaged',
|
||||
'ui',
|
||||
|
|
@ -331,22 +333,21 @@ def join_process(process, timeout):
|
|||
time.sleep(0.001)
|
||||
|
||||
|
||||
def kill_managed_process(name):
|
||||
def kill_managed_process(name, retry=True):
|
||||
if name not in running or name not in managed_processes:
|
||||
return
|
||||
cloudlog.info("killing %s" % name)
|
||||
cloudlog.info(f"killing {name}")
|
||||
|
||||
if running[name].exitcode is None:
|
||||
if name in interrupt_processes:
|
||||
os.kill(running[name].pid, signal.SIGINT)
|
||||
elif name in kill_processes:
|
||||
os.kill(running[name].pid, signal.SIGKILL)
|
||||
else:
|
||||
running[name].terminate()
|
||||
sig = signal.SIGKILL if name in kill_processes else signal.SIGINT
|
||||
os.kill(running[name].pid, sig)
|
||||
|
||||
join_process(running[name], 5)
|
||||
|
||||
if running[name].exitcode is None:
|
||||
if not retry:
|
||||
raise Exception(f"{name} failed to die")
|
||||
|
||||
if name in unkillable_processes:
|
||||
cloudlog.critical("unkillable process %s failed to exit! rebooting in 15 if it doesn't die" % name)
|
||||
join_process(running[name], 15)
|
||||
|
|
@ -361,8 +362,10 @@ def kill_managed_process(name):
|
|||
os.kill(running[name].pid, signal.SIGKILL)
|
||||
running[name].join()
|
||||
|
||||
cloudlog.info("%s is dead with %d" % (name, running[name].exitcode))
|
||||
ret = running[name].exitcode
|
||||
cloudlog.info(f"{name} is dead with {ret}")
|
||||
del running[name]
|
||||
return ret
|
||||
|
||||
|
||||
def cleanup_all_processes(signal, frame):
|
||||
|
|
@ -445,8 +448,8 @@ def manager_thread():
|
|||
pm_apply_packages('enable')
|
||||
start_offroad()
|
||||
|
||||
if os.getenv("NOBOARD") is None:
|
||||
start_managed_process("pandad")
|
||||
if os.getenv("NOBOARD") is not None:
|
||||
del managed_processes["pandad"]
|
||||
|
||||
if os.getenv("BLOCK") is not None:
|
||||
for k in os.getenv("BLOCK").split(","):
|
||||
|
|
|
|||
|
|
@ -11,8 +11,8 @@
|
|||
|
||||
#include "models/driving.h"
|
||||
#include "messaging.hpp"
|
||||
volatile sig_atomic_t do_exit = 0;
|
||||
|
||||
volatile sig_atomic_t do_exit = 0;
|
||||
static void set_do_exit(int sig) {
|
||||
do_exit = 1;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -3,7 +3,8 @@
|
|||
import os
|
||||
import time
|
||||
|
||||
from panda import BASEDIR, Panda, PandaDFU, build_st
|
||||
from panda import BASEDIR as PANDA_BASEDIR, Panda, PandaDFU, build_st
|
||||
from common.basedir import BASEDIR
|
||||
from common.gpio import gpio_init, gpio_set
|
||||
from selfdrive.hardware import TICI
|
||||
from selfdrive.hardware.tici.pins import GPIO_HUB_RST_N, GPIO_STM_BOOT0, GPIO_STM_RST_N
|
||||
|
|
@ -28,7 +29,7 @@ def set_panda_power(power=True):
|
|||
|
||||
|
||||
def get_firmware_fn():
|
||||
signed_fn = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
|
||||
signed_fn = os.path.join(PANDA_BASEDIR, "board", "obj", "panda.bin.signed")
|
||||
if os.path.exists(signed_fn):
|
||||
cloudlog.info("Using prebuilt signed firmware")
|
||||
return signed_fn
|
||||
|
|
@ -36,7 +37,7 @@ def get_firmware_fn():
|
|||
cloudlog.info("Building panda firmware")
|
||||
fn = "obj/panda.bin"
|
||||
build_st(fn, clean=False)
|
||||
return os.path.join(BASEDIR, "board", fn)
|
||||
return os.path.join(PANDA_BASEDIR, "board", fn)
|
||||
|
||||
|
||||
def get_expected_signature(fw_fn=None):
|
||||
|
|
@ -115,7 +116,7 @@ def main():
|
|||
set_panda_power()
|
||||
update_panda()
|
||||
|
||||
os.chdir("boardd")
|
||||
os.chdir(os.path.join(BASEDIR, "selfdrive/boardd"))
|
||||
os.execvp("./boardd", ["./boardd"])
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,10 +1,11 @@
|
|||
#include <unistd.h>
|
||||
#include <dirent.h>
|
||||
|
||||
#include <cstdio>
|
||||
#include <cstdlib>
|
||||
#include <climits>
|
||||
#include <cassert>
|
||||
|
||||
#include <unistd.h>
|
||||
#include <dirent.h>
|
||||
#include <csignal>
|
||||
#include <memory>
|
||||
#include <utility>
|
||||
#include <sstream>
|
||||
|
|
@ -16,10 +17,18 @@
|
|||
#include "messaging.hpp"
|
||||
|
||||
#include "common/timing.h"
|
||||
#include "common/util.h"
|
||||
#include "common/utilpp.h"
|
||||
|
||||
|
||||
volatile sig_atomic_t do_exit = 0;
|
||||
|
||||
namespace {
|
||||
|
||||
static void set_do_exit(int sig) {
|
||||
do_exit = 1;
|
||||
}
|
||||
|
||||
struct ProcCache {
|
||||
std::string name;
|
||||
std::vector<std::string> cmdline;
|
||||
|
|
@ -29,6 +38,9 @@ struct ProcCache {
|
|||
}
|
||||
|
||||
int main() {
|
||||
signal(SIGINT, (sighandler_t)set_do_exit);
|
||||
signal(SIGTERM, (sighandler_t)set_do_exit);
|
||||
|
||||
PubMaster publisher({"procLog"});
|
||||
|
||||
double jiffy = sysconf(_SC_CLK_TCK);
|
||||
|
|
@ -36,7 +48,7 @@ int main() {
|
|||
|
||||
std::unordered_map<pid_t, ProcCache> proc_cache;
|
||||
|
||||
while (1) {
|
||||
while (!do_exit) {
|
||||
|
||||
MessageBuilder msg;
|
||||
auto procLog = msg.initEvent().initProcLog();
|
||||
|
|
|
|||
|
|
@ -23,10 +23,9 @@
|
|||
|
||||
#include "sensors/light_sensor.hpp"
|
||||
|
||||
volatile sig_atomic_t do_exit = 0;
|
||||
|
||||
#define I2C_BUS_IMU 1
|
||||
|
||||
volatile sig_atomic_t do_exit = 0;
|
||||
|
||||
void set_do_exit(int sig) {
|
||||
do_exit = 1;
|
||||
|
|
|
|||
|
|
@ -0,0 +1,59 @@
|
|||
#!/usr/bin/env python3
|
||||
import os
|
||||
import signal
|
||||
import time
|
||||
import unittest
|
||||
|
||||
os.environ['FAKEUPLOAD'] = "1"
|
||||
|
||||
import selfdrive.manager as manager
|
||||
from selfdrive.hardware import EON
|
||||
|
||||
# TODO: make eon fast
|
||||
MAX_STARTUP_TIME = 30 if EON else 15
|
||||
ALL_PROCESSES = manager.persistent_processes + manager.car_started_processes
|
||||
|
||||
class TestManager(unittest.TestCase):
|
||||
|
||||
def setUp(self):
|
||||
os.environ['PASSIVE'] = '0'
|
||||
|
||||
def tearDown(self):
|
||||
manager.cleanup_all_processes(None, None)
|
||||
|
||||
def test_manager_prepare(self):
|
||||
os.environ['PREPAREONLY'] = '1'
|
||||
manager.main()
|
||||
|
||||
def test_startup_time(self):
|
||||
for _ in range(10):
|
||||
start = time.monotonic()
|
||||
os.environ['PREPAREONLY'] = '1'
|
||||
manager.main()
|
||||
t = time.monotonic() - start
|
||||
assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
|
||||
|
||||
# ensure all processes exit cleanly
|
||||
def test_clean_exit(self):
|
||||
manager.manager_prepare()
|
||||
for p in ALL_PROCESSES:
|
||||
manager.start_managed_process(p)
|
||||
|
||||
time.sleep(10)
|
||||
|
||||
for p in reversed(ALL_PROCESSES):
|
||||
exit_code = manager.kill_managed_process(p, retry=False)
|
||||
if not EON and (p == 'ui'or p == 'loggerd'):
|
||||
# TODO: make Qt UI exit gracefully and fix OMX encoder exiting
|
||||
continue
|
||||
|
||||
# TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
|
||||
exit_codes = [0, 1]
|
||||
if p in manager.kill_processes:
|
||||
exit_codes = [-signal.SIGKILL]
|
||||
assert exit_code in exit_codes, f"{p} died with {exit_code}"
|
||||
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -56,7 +56,7 @@ def read_tz(x):
|
|||
return 0
|
||||
|
||||
try:
|
||||
with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f:
|
||||
with open(f"/sys/devices/virtual/thermal/thermal_zone{x}/temp") as f:
|
||||
return int(f.read())
|
||||
except FileNotFoundError:
|
||||
return 0
|
||||
|
|
@ -162,10 +162,10 @@ def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_tex
|
|||
|
||||
|
||||
def thermald_thread():
|
||||
health_timeout = int(1000 * 2.5 * DT_TRML) # 2.5x the expected health frequency
|
||||
|
||||
# now loop
|
||||
thermal_sock = messaging.pub_sock('thermal')
|
||||
pm = messaging.PubMaster(['thermal'])
|
||||
|
||||
health_timeout = int(1000 * 2.5 * DT_TRML) # 2.5x the expected health frequency
|
||||
health_sock = messaging.sub_sock('health', timeout=health_timeout)
|
||||
location_sock = messaging.sub_sock('gpsLocation')
|
||||
|
||||
|
|
@ -195,15 +195,13 @@ def thermald_thread():
|
|||
is_uno = False
|
||||
|
||||
params = Params()
|
||||
pm = PowerMonitoring()
|
||||
power_monitor = PowerMonitoring()
|
||||
no_panda_cnt = 0
|
||||
|
||||
thermal_config = get_thermal_config()
|
||||
|
||||
while 1:
|
||||
health = messaging.recv_sock(health_sock, wait=True)
|
||||
location = messaging.recv_sock(location_sock)
|
||||
location = location.gpsLocation if location else None
|
||||
msg = read_thermal(thermal_config)
|
||||
|
||||
if health is not None:
|
||||
|
|
@ -278,6 +276,7 @@ def thermald_thread():
|
|||
# If device is offroad we want to cool down before going onroad
|
||||
# since going onroad increases load and can make temps go over 107
|
||||
# We only do this if there is a relay that prevents the car from faulting
|
||||
thermal_status = ThermalStatus.green # default to good condition
|
||||
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))
|
||||
if max_cpu_temp > 107. or bat_temp >= 63. or (is_offroad_for_5_min and max_cpu_temp > 70.0):
|
||||
# onroad not allowed
|
||||
|
|
@ -294,9 +293,6 @@ def thermald_thread():
|
|||
elif max_cpu_temp > 75.0:
|
||||
# hysteresis between uploader not allowed and all good
|
||||
thermal_status = clip(thermal_status, ThermalStatus.green, ThermalStatus.yellow)
|
||||
else:
|
||||
# all good
|
||||
thermal_status = ThermalStatus.green
|
||||
|
||||
# **** starting logic ****
|
||||
|
||||
|
|
@ -365,6 +361,7 @@ def thermald_thread():
|
|||
log.HealthData.HwType.greyPanda]
|
||||
set_offroad_alert_if_changed("Offroad_HardwareUnsupported", health is not None and not startup_conditions["hardware_supported"])
|
||||
|
||||
# Handle offroad/onroad transition
|
||||
if should_start:
|
||||
if not should_start_prev:
|
||||
params.delete("IsOffroad")
|
||||
|
|
@ -376,6 +373,7 @@ def thermald_thread():
|
|||
else:
|
||||
if startup_conditions["ignition"] and (startup_conditions != startup_conditions_prev):
|
||||
cloudlog.event("Startup blocked", startup_conditions=startup_conditions)
|
||||
|
||||
if should_start_prev or (count == 0):
|
||||
params.put("IsOffroad", "1")
|
||||
|
||||
|
|
@ -384,15 +382,15 @@ def thermald_thread():
|
|||
off_ts = sec_since_boot()
|
||||
|
||||
# Offroad power monitoring
|
||||
pm.calculate(health)
|
||||
msg.thermal.offroadPowerUsage = pm.get_power_used()
|
||||
msg.thermal.carBatteryCapacity = max(0, pm.get_car_battery_capacity())
|
||||
power_monitor.calculate(health)
|
||||
msg.thermal.offroadPowerUsage = power_monitor.get_power_used()
|
||||
msg.thermal.carBatteryCapacity = max(0, power_monitor.get_car_battery_capacity())
|
||||
|
||||
# Check if we need to disable charging (handled by boardd)
|
||||
msg.thermal.chargingDisabled = pm.should_disable_charging(health, off_ts)
|
||||
msg.thermal.chargingDisabled = power_monitor.should_disable_charging(health, off_ts)
|
||||
|
||||
# Check if we need to shut down
|
||||
if pm.should_shutdown(health, off_ts, started_seen, LEON):
|
||||
if power_monitor.should_shutdown(health, off_ts, started_seen, LEON):
|
||||
cloudlog.info(f"shutting device down, offroad since {off_ts}")
|
||||
# TODO: add function for blocking cloudlog instead of sleep
|
||||
time.sleep(10)
|
||||
|
|
@ -403,7 +401,7 @@ def thermald_thread():
|
|||
msg.thermal.startedTs = int(1e9*(started_ts or 0))
|
||||
|
||||
msg.thermal.thermalStatus = thermal_status
|
||||
thermal_sock.send(msg.to_bytes())
|
||||
pm.send("thermal", msg)
|
||||
|
||||
set_offroad_alert_if_changed("Offroad_ChargeDisabled", (not usb_power))
|
||||
|
||||
|
|
@ -412,10 +410,11 @@ def thermald_thread():
|
|||
|
||||
# report to server once per minute
|
||||
if (count % int(60. / DT_TRML)) == 0:
|
||||
location = messaging.recv_sock(location_sock)
|
||||
cloudlog.event("STATUS_PACKET",
|
||||
count=count,
|
||||
health=(health.to_dict() if health else None),
|
||||
location=(location.to_dict() if location else None),
|
||||
location=(location.gpsLocation.to_dict() if location else None),
|
||||
thermal=msg.to_dict())
|
||||
|
||||
count += 1
|
||||
|
|
|
|||
Loading…
Reference in New Issue