462 lines
17 KiB
Python
Executable File
462 lines
17 KiB
Python
Executable File
#!/usr/bin/env python3
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import datetime
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import os
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import time
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from collections import namedtuple
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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.filter_simple import FirstOrderFilter
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from common.hardware import EON, HARDWARE, TICI
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from common.numpy_fast import clip, interp
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from common.params import Params, put_nonblocking
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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.loggerd.config import get_available_percent
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from selfdrive.pandad import get_expected_signature
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from selfdrive.swaglog import cloudlog
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from selfdrive.thermald.power_monitoring import (PowerMonitoring,
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get_battery_capacity,
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get_battery_current,
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get_battery_status,
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get_battery_voltage,
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get_usb_present)
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from selfdrive.version import get_git_branch, terms_version, training_version
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ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambient'])
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FW_SIGNATURE = get_expected_signature()
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ThermalStatus = log.ThermalData.ThermalStatus
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NetworkType = log.ThermalData.NetworkType
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NetworkStrength = log.ThermalData.NetworkStrength
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CURRENT_TAU = 15. # 15s time constant
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CPU_TEMP_TAU = 5. # 5s time constant
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DAYS_NO_CONNECTIVITY_MAX = 7 # do not allow to engage after a week without internet
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DAYS_NO_CONNECTIVITY_PROMPT = 4 # send an offroad prompt after 4 days with no internet
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DISCONNECT_TIMEOUT = 5. # wait 5 seconds before going offroad after disconnect so you get an alert
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LEON = False
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last_eon_fan_val = None
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def get_thermal_config():
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# (tz, scale)
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if EON:
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return ThermalConfig(cpu=((5, 7, 10, 12), 10), gpu=((16,), 10), mem=(2, 10), bat=(29, 1000), ambient=(25, 1))
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elif TICI:
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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))
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else:
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return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), ambient=(None, 1))
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def read_tz(x):
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if x is None:
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return 0
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try:
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with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f:
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return int(f.read())
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except FileNotFoundError:
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return 0
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def read_thermal(thermal_config):
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dat = messaging.new_message('thermal')
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dat.thermal.cpu = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]]
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dat.thermal.gpu = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
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dat.thermal.mem = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
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dat.thermal.ambient = read_tz(thermal_config.ambient[0]) / thermal_config.ambient[1]
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dat.thermal.bat = read_tz(thermal_config.bat[0]) / thermal_config.bat[1]
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return dat
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def setup_eon_fan():
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global LEON
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os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch")
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bus = SMBus(7, force=True)
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try:
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bus.write_byte_data(0x21, 0x10, 0xf) # mask all interrupts
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bus.write_byte_data(0x21, 0x03, 0x1) # set drive current and global interrupt disable
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bus.write_byte_data(0x21, 0x02, 0x2) # needed?
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bus.write_byte_data(0x21, 0x04, 0x4) # manual override source
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except IOError:
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print("LEON detected")
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LEON = True
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bus.close()
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def set_eon_fan(val):
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global LEON, 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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if LEON:
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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 IOError:
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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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#bus.write_i2c_block_data(0x67, 0x45, [1<<2])
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else:
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#bus.write_i2c_block_data(0x67, 0x45, [0])
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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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else:
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bus.write_byte_data(0x21, 0x04, 0x2)
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bus.write_byte_data(0x21, 0x03, (val*2)+1)
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bus.write_byte_data(0x21, 0x04, 0x4)
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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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# max fan speed only allowed if battery is hot
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_BAT_TEMP_THERSHOLD = 45.
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def handle_fan_eon(max_cpu_temp, bat_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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if bat_temp < _BAT_TEMP_THERSHOLD:
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# no max fan speed unless battery is hot
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fan_speed = min(fan_speed, _FAN_SPEEDS[-2])
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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(max_cpu_temp, bat_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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def thermald_thread():
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health_timeout = int(1000 * 2.5 * DT_TRML) # 2.5x the expected health frequency
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# now loop
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thermal_sock = messaging.pub_sock('thermal')
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health_sock = messaging.sub_sock('health', timeout=health_timeout)
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location_sock = messaging.sub_sock('gpsLocation')
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ignition = False
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fan_speed = 0
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count = 0
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off_ts = None
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started_ts = None
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started_seen = False
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thermal_status = ThermalStatus.green
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thermal_status_prev = ThermalStatus.green
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usb_power = True
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usb_power_prev = True
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current_branch = get_git_branch()
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network_type = NetworkType.none
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network_strength = NetworkStrength.unknown
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current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
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cpu_temp_filter = FirstOrderFilter(0., CPU_TEMP_TAU, DT_TRML)
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health_prev = None
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fw_version_match_prev = True
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current_update_alert = None
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time_valid_prev = True
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should_start_prev = False
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handle_fan = None
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is_uno = False
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has_relay = False
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params = Params()
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pm = PowerMonitoring()
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no_panda_cnt = 0
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thermal_config = get_thermal_config()
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while 1:
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health = messaging.recv_sock(health_sock, wait=True)
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location = messaging.recv_sock(location_sock)
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location = location.gpsLocation if location else None
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msg = read_thermal(thermal_config)
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if health is not None:
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usb_power = health.health.usbPowerMode != log.HealthData.UsbPowerMode.client
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# If we lose connection to the panda, wait 5 seconds before going offroad
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if health.health.hwType == log.HealthData.HwType.unknown:
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no_panda_cnt += 1
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if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
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if ignition:
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cloudlog.error("Lost panda connection while onroad")
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ignition = False
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else:
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no_panda_cnt = 0
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ignition = health.health.ignitionLine or health.health.ignitionCan
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# Setup fan handler on first connect to panda
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if handle_fan is None and health.health.hwType != log.HealthData.HwType.unknown:
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is_uno = health.health.hwType == log.HealthData.HwType.uno
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has_relay = health.health.hwType in [log.HealthData.HwType.blackPanda, log.HealthData.HwType.uno, log.HealthData.HwType.dos]
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if (not EON) or is_uno:
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cloudlog.info("Setting up UNO fan handler")
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handle_fan = handle_fan_uno
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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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# Handle disconnect
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if health_prev is not None:
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if health.health.hwType == log.HealthData.HwType.unknown and \
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health_prev.health.hwType != log.HealthData.HwType.unknown:
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params.panda_disconnect()
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health_prev = health
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# get_network_type is an expensive call. update every 10s
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if (count % int(10. / DT_TRML)) == 0:
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try:
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network_type = HARDWARE.get_network_type()
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network_strength = HARDWARE.get_network_strength(network_type)
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except Exception:
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cloudlog.exception("Error getting network status")
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msg.thermal.freeSpace = get_available_percent(default=100.0) / 100.0
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msg.thermal.memUsedPercent = int(round(psutil.virtual_memory().percent))
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msg.thermal.cpuPerc = int(round(psutil.cpu_percent()))
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msg.thermal.networkType = network_type
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msg.thermal.networkStrength = network_strength
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msg.thermal.batteryPercent = get_battery_capacity()
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msg.thermal.batteryStatus = get_battery_status()
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msg.thermal.batteryCurrent = get_battery_current()
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msg.thermal.batteryVoltage = get_battery_voltage()
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msg.thermal.usbOnline = get_usb_present()
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# Fake battery levels on uno for frame
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if (not EON) or is_uno:
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msg.thermal.batteryPercent = 100
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msg.thermal.batteryStatus = "Charging"
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msg.thermal.bat = 0
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current_filter.update(msg.thermal.batteryCurrent / 1e6)
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# TODO: add car battery voltage check
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max_cpu_temp = cpu_temp_filter.update(max(msg.thermal.cpu))
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max_comp_temp = max(max_cpu_temp, msg.thermal.mem, max(msg.thermal.gpu))
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bat_temp = msg.thermal.bat
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if handle_fan is not None:
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fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed, ignition)
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msg.thermal.fanSpeed = fan_speed
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# If device is offroad we want to cool down before going onroad
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# since going onroad increases load and can make temps go over 107
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# We only do this if there is a relay that prevents the car from faulting
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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 max_cpu_temp > 107. or bat_temp >= 63. or (has_relay and is_offroad_for_5_min and max_cpu_temp > 70.0):
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# onroad not allowed
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thermal_status = ThermalStatus.danger
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elif max_comp_temp > 96.0 or bat_temp > 60.:
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# hysteresis between onroad not allowed and engage not allowed
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thermal_status = clip(thermal_status, ThermalStatus.red, ThermalStatus.danger)
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elif max_cpu_temp > 94.0:
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# hysteresis between engage not allowed and uploader not allowed
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thermal_status = clip(thermal_status, ThermalStatus.yellow, ThermalStatus.red)
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elif max_cpu_temp > 80.0:
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# uploader not allowed
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thermal_status = ThermalStatus.yellow
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elif max_cpu_temp > 75.0:
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# hysteresis between uploader not allowed and all good
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thermal_status = clip(thermal_status, ThermalStatus.green, ThermalStatus.yellow)
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else:
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# all good
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thermal_status = ThermalStatus.green
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# **** starting logic ****
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# Check for last update time and display alerts if needed
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now = datetime.datetime.utcnow()
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# show invalid date/time alert
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time_valid = now.year >= 2019
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if time_valid and not time_valid_prev:
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set_offroad_alert("Offroad_InvalidTime", False)
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if not time_valid and time_valid_prev:
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set_offroad_alert("Offroad_InvalidTime", True)
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time_valid_prev = time_valid
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# Show update prompt
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try:
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last_update = datetime.datetime.fromisoformat(params.get("LastUpdateTime", encoding='utf8'))
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except (TypeError, ValueError):
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last_update = now
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dt = now - last_update
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update_failed_count = params.get("UpdateFailedCount")
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update_failed_count = 0 if update_failed_count is None else int(update_failed_count)
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last_update_exception = params.get("LastUpdateException", encoding='utf8')
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if update_failed_count > 15 and last_update_exception is not None:
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if current_branch in ["release2", "dashcam"]:
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extra_text = "Ensure the software is correctly installed"
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else:
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extra_text = last_update_exception
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if current_update_alert != "update" + extra_text:
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current_update_alert = "update" + extra_text
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set_offroad_alert("Offroad_ConnectivityNeeded", False)
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set_offroad_alert("Offroad_ConnectivityNeededPrompt", False)
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set_offroad_alert("Offroad_UpdateFailed", True, extra_text=extra_text)
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elif dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
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if current_update_alert != "expired":
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current_update_alert = "expired"
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set_offroad_alert("Offroad_UpdateFailed", False)
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set_offroad_alert("Offroad_ConnectivityNeededPrompt", False)
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set_offroad_alert("Offroad_ConnectivityNeeded", True)
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elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
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remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
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if current_update_alert != "prompt" + remaining_time:
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current_update_alert = "prompt" + remaining_time
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set_offroad_alert("Offroad_UpdateFailed", False)
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set_offroad_alert("Offroad_ConnectivityNeeded", False)
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set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining_time} days.")
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elif current_update_alert is not None:
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current_update_alert = None
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set_offroad_alert("Offroad_UpdateFailed", False)
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set_offroad_alert("Offroad_ConnectivityNeeded", False)
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set_offroad_alert("Offroad_ConnectivityNeededPrompt", False)
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do_uninstall = params.get("DoUninstall") == b"1"
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accepted_terms = params.get("HasAcceptedTerms") == terms_version
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completed_training = params.get("CompletedTrainingVersion") == training_version
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panda_signature = params.get("PandaFirmware")
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fw_version_match = (panda_signature is None) or (panda_signature == FW_SIGNATURE) # don't show alert is no panda is connected (None)
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should_start = ignition
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# with 2% left, we killall, otherwise the phone will take a long time to boot
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should_start = should_start and msg.thermal.freeSpace > 0.02
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# confirm we have completed training and aren't uninstalling
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should_start = should_start and accepted_terms and completed_training and (not do_uninstall)
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# check for firmware mismatch
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should_start = should_start and fw_version_match
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# check if system time is valid
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should_start = should_start and time_valid
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# don't start while taking snapshot
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if not should_start_prev:
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is_viewing_driver = params.get("IsDriverViewEnabled") == b"1"
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is_taking_snapshot = params.get("IsTakingSnapshot") == b"1"
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should_start = should_start and (not is_taking_snapshot) and (not is_viewing_driver)
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if fw_version_match and not fw_version_match_prev:
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set_offroad_alert("Offroad_PandaFirmwareMismatch", False)
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if not fw_version_match and fw_version_match_prev:
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set_offroad_alert("Offroad_PandaFirmwareMismatch", True)
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# if any CPU gets above 107 or the battery gets above 63, kill all processes
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# controls will warn with CPU above 95 or battery above 60
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if thermal_status >= ThermalStatus.danger:
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should_start = False
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if thermal_status_prev < ThermalStatus.danger:
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set_offroad_alert("Offroad_TemperatureTooHigh", True)
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else:
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if thermal_status_prev >= ThermalStatus.danger:
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set_offroad_alert("Offroad_TemperatureTooHigh", False)
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if should_start:
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if not should_start_prev:
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params.delete("IsOffroad")
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off_ts = None
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if started_ts is None:
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started_ts = sec_since_boot()
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started_seen = True
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os.system('echo performance > /sys/class/devfreq/soc:qcom,cpubw/governor')
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else:
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if should_start_prev or (count == 0):
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put_nonblocking("IsOffroad", "1")
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started_ts = None
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if off_ts is None:
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off_ts = sec_since_boot()
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os.system('echo powersave > /sys/class/devfreq/soc:qcom,cpubw/governor')
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# Offroad power monitoring
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pm.calculate(health)
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msg.thermal.offroadPowerUsage = pm.get_power_used()
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msg.thermal.carBatteryCapacity = max(0, pm.get_car_battery_capacity())
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# Check if we need to disable charging (handled by boardd)
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msg.thermal.chargingDisabled = pm.should_disable_charging(health, off_ts)
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# Check if we need to shut down
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if pm.should_shutdown(health, off_ts, started_seen, LEON):
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cloudlog.info(f"shutting device down, offroad since {off_ts}")
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# TODO: add function for blocking cloudlog instead of sleep
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time.sleep(10)
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os.system('LD_LIBRARY_PATH="" svc power shutdown')
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msg.thermal.chargingError = current_filter.x > 0. and msg.thermal.batteryPercent < 90 # if current is positive, then battery is being discharged
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msg.thermal.started = started_ts is not None
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msg.thermal.startedTs = int(1e9*(started_ts or 0))
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msg.thermal.thermalStatus = thermal_status
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thermal_sock.send(msg.to_bytes())
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if usb_power_prev and not usb_power:
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set_offroad_alert("Offroad_ChargeDisabled", True)
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elif usb_power and not usb_power_prev:
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set_offroad_alert("Offroad_ChargeDisabled", False)
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thermal_status_prev = thermal_status
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usb_power_prev = usb_power
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fw_version_match_prev = fw_version_match
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|
should_start_prev = should_start
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|
|
|
# report to server once per minute
|
|
if (count % int(60. / DT_TRML)) == 0:
|
|
cloudlog.event("STATUS_PACKET",
|
|
count=count,
|
|
health=(health.to_dict() if health else None),
|
|
location=(location.to_dict() if location else None),
|
|
thermal=msg.to_dict())
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|
|
|
count += 1
|
|
|
|
|
|
def main():
|
|
thermald_thread()
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|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|