sensord: rm light sensor (#29503)

system/sensord/SConscript

@@ -1,9 +1,7 @@
 Import('env', 'arch', 'common', 'cereal', 'messaging')
 
 sensors = [
-  'sensors/file_sensor.cc',
   'sensors/i2c_sensor.cc',
-  'sensors/light_sensor.cc',
   'sensors/bmx055_accel.cc',
   'sensors/bmx055_gyro.cc',
   'sensors/bmx055_magn.cc',

system/sensord/sensors/file_sensor.cc

@@ -1,17 +0,0 @@
-#include "file_sensor.h"
-
-#include <string>
-
-FileSensor::FileSensor(std::string filename) : file(filename) {}
-
-int FileSensor::init() {
-  return file.is_open() ? 0 : 1;
-}
-
-FileSensor::~FileSensor() {
-  file.close();
-}
-
-bool FileSensor::has_interrupt_enabled() {
-  return false;
-}

system/sensord/sensors/file_sensor.h

@@ -1,19 +0,0 @@
-#pragma once
-
-#include <fstream>
-#include <string>
-
-#include "cereal/gen/cpp/log.capnp.h"
-#include "system/sensord/sensors/sensor.h"
-
-class FileSensor : public Sensor {
-protected:
-  std::ifstream file;
-
-public:
-  FileSensor(std::string filename);
-  ~FileSensor();
-  int init();
-  bool has_interrupt_enabled();
-  virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
-};

system/sensord/sensors/light_sensor.cc

@@ -1,27 +0,0 @@
-#include "light_sensor.h"
-
-#include <string>
-
-#include "common/timing.h"
-#include "system/sensord/sensors/constants.h"
-
-LightSensor::LightSensor(std::string filename) : FileSensor(filename) {}
-
-bool LightSensor::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  file.clear();
-  file.seekg(0);
-
-  int value;
-  file >> value;
-
-  auto event = msg.initEvent().initLightSensor();
-  event.setSource(cereal::SensorEventData::SensorSource::RPR0521);
-  event.setVersion(1);
-  event.setSensor(SENSOR_LIGHT);
-  event.setType(SENSOR_TYPE_LIGHT);
-  event.setTimestamp(start_time);
-  event.setLight(value);
-
-  return true;
-}

system/sensord/sensors/light_sensor.h

@@ -1,9 +0,0 @@
-#pragma once
-#include "file_sensor.h"
-
-class LightSensor : public FileSensor {
-public:
-  LightSensor(std::string filename);
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown() { return 0; }
-};

system/sensord/sensors_qcom2.cc

@@ -18,7 +18,6 @@
 #include "system/sensord/sensors/bmx055_magn.h"
 #include "system/sensord/sensors/bmx055_temp.h"
 #include "system/sensord/sensors/constants.h"
-#include "system/sensord/sensors/light_sensor.h"
 #include "system/sensord/sensors/lsm6ds3_accel.h"
 #include "system/sensord/sensors/lsm6ds3_gyro.h"
 #include "system/sensord/sensors/lsm6ds3_temp.h"
@@ -101,8 +100,6 @@ int sensor_loop(I2CBus *i2c_bus_imu) {
 
   MMC5603NJ_Magn mmc5603nj_magn(i2c_bus_imu);
 
-  LightSensor light("/sys/class/i2c-adapter/i2c-2/2-0038/iio:device1/in_intensity_both_raw");
-
   std::map<Sensor*, std::string> sensor_service = {
     {&bmx055_accel, "accelerometer2"},
     {&bmx055_gyro, "gyroscope2"},
@@ -114,7 +111,6 @@ int sensor_loop(I2CBus *i2c_bus_imu) {
     {&lsm6ds3_temp, "temperatureSensor"},
 
     {&mmc5603nj_magn, "magnetometer"},
-    {&light, "lightSensor"}
   };
 
   // Sensor init
@@ -130,8 +126,6 @@ int sensor_loop(I2CBus *i2c_bus_imu) {
 
   sensors_init.push_back({&mmc5603nj_magn, false});
 
-  sensors_init.push_back({&light, true});
-
   bool has_magnetometer = false;
 
   // Initialize sensors
@@ -165,8 +159,7 @@ int sensor_loop(I2CBus *i2c_bus_imu) {
   util::set_core_affinity({1});
   std::system("sudo su -c 'echo 1 > /proc/irq/336/smp_affinity_list'");
 
-  PubMaster pm_non_int({"gyroscope2", "accelerometer2", "temperatureSensor",
+  PubMaster pm_non_int({"gyroscope2", "accelerometer2", "temperatureSensor", "magnetometer"});
-                        "lightSensor", "magnetometer"});
   init_ts = nanos_since_boot();
 
   // thread for reading events via interrupts

system/sensord/tests/test_sensord.py

@@ -29,24 +29,16 @@ MMC = {
   ('mmc5603nj', 'magneticUncalibrated'),
 }
 
-RPR = {
-  ('rpr0521', 'light'),
-}
-
 SENSOR_CONFIGURATIONS = (
-  (BMX | LSM | RPR),
+  (BMX | LSM),
-  (MMC | LSM | RPR),
+  (MMC | LSM),
-  (BMX | LSM_C | RPR),
+  (BMX | LSM_C),
-  (MMC| LSM_C | RPR),
+  (MMC| LSM_C),
 )
 
 Sensor = log.SensorEventData.SensorSource
 SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max', 'expected_freq'])
 ALL_SENSORS = {
-  Sensor.rpr0521: {
-    SensorConfig("light", 0, 1023, 100),
-  },
-
   Sensor.lsm6ds3: {
     SensorConfig("acceleration", 5, 15, 100),
     SensorConfig("gyroUncalibrated", 0, .2, 100),
@@ -79,7 +71,7 @@ def get_irq_count(irq: int):
 
 def read_sensor_events(duration_sec):
   sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2',
-                  'gyroscope2', 'lightSensor', 'temperatureSensor']
+                  'gyroscope2', 'temperatureSensor']
   esocks = {}
   events = defaultdict(list)
   for stype in sensor_types: