Fix tici powerdown and add support for forcing (#20132)

* also shutdown on tici

* force powerdown

* bump panda

* abstract out shutdown and thermal config

* add comment on tici shutdown

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 8ad1c793d1

common/params_pyx.pyx

@@ -76,6 +76,7 @@ keys = {
   b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
   b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
   b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
+  b"ForcePowerDown": [TxType.CLEAR_ON_MANAGER_START],
 }
 
 def ensure_bytes(v):

panda

@@ -1 +1 @@
-Subproject commit e7a5bf85412883cc49a35be6521ccac2bb9502b7
+Subproject commit 0ae2be95a114269b12e039eabf0a563c1ca32ece

selfdrive/hardware/base.py

@@ -1,5 +1,7 @@
 from abc import abstractmethod
+from collections import namedtuple
 
+ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambient'])
 
 class HardwareBase:
   @staticmethod
@@ -91,3 +93,11 @@ class HardwareBase:
   @abstractmethod
   def get_current_power_draw(self):
     pass
+
+  @abstractmethod
+  def shutdown(self):
+    pass
+
+  @abstractmethod
+  def get_thermal_config(self):
+    pass

selfdrive/hardware/eon/hardware.py

@@ -6,7 +6,7 @@ import struct
 import subprocess
 
 from cereal import log
-from selfdrive.hardware.base import HardwareBase
+from selfdrive.hardware.base import HardwareBase, ThermalConfig
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
@@ -342,3 +342,9 @@ class Android(HardwareBase):
   def get_current_power_draw(self):
     # We don't have a good direct way to measure this on android
     return None
+
+  def shutdown(self):
+    os.system('LD_LIBRARY_PATH="" svc power shutdown')
+
+  def get_thermal_config(self):
+    return ThermalConfig(cpu=((5, 7, 10, 12), 10), gpu=((16,), 10), mem=(2, 10), bat=(29, 1000), ambient=(25, 1))

selfdrive/hardware/pc/hardware.py

@@ -1,7 +1,7 @@
 import random
 
 from cereal import log
-from selfdrive.hardware.base import HardwareBase
+from selfdrive.hardware.base import HardwareBase, ThermalConfig
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
@@ -70,3 +70,9 @@ class Pc(HardwareBase):
 
   def get_current_power_draw(self):
     return 0
+
+  def shutdown(self):
+    print("SHUTDOWN!")
+
+  def get_thermal_config(self):
+    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), ambient=(None, 1))

selfdrive/hardware/tici/hardware.py

@@ -3,7 +3,7 @@ import subprocess
 from pathlib import Path
 
 from cereal import log
-from selfdrive.hardware.base import HardwareBase
+from selfdrive.hardware.base import HardwareBase, ThermalConfig
 
 NM = 'org.freedesktop.NetworkManager'
 NM_CON_ACT = NM + '.Connection.Active'
@@ -176,3 +176,10 @@ class Tici(HardwareBase):
 
   def get_current_power_draw(self):
     return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
+
+  def shutdown(self):
+    # Note that for this to work and have the device stay powered off, the panda needs to be in UsbPowerMode::CLIENT!
+    os.system("sudo poweroff")
+
+  def get_thermal_config(self):
+    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))

selfdrive/thermald/power_monitoring.py

@@ -165,6 +165,7 @@ class PowerMonitoring:
     disable_charging |= (self.car_battery_capacity_uWh <= 0)
     disable_charging &= (not pandaState.pandaState.ignitionLine and not pandaState.pandaState.ignitionCan)
     disable_charging &= (self.params.get("DisablePowerDown") != b"1")
+    disable_charging |= (self.params.get("ForcePowerDown") == b"1")
     return disable_charging
 
   # See if we need to shutdown

selfdrive/thermald/thermald.py

@@ -2,7 +2,6 @@
 import datetime
 import os
 import time
-from collections import namedtuple
 from typing import Dict, Optional, Tuple
 
 import psutil
@@ -15,15 +14,13 @@ from common.numpy_fast import clip, interp
 from common.params import Params
 from common.realtime import DT_TRML, sec_since_boot
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from selfdrive.hardware import EON, HARDWARE, TICI
+from selfdrive.hardware import EON, HARDWARE
 from selfdrive.loggerd.config import get_available_percent
 from selfdrive.pandad import get_expected_signature
 from selfdrive.swaglog import cloudlog
 from selfdrive.thermald.power_monitoring import PowerMonitoring
 from selfdrive.version import get_git_branch, terms_version, training_version
 
-ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambient'])
-
 FW_SIGNATURE = get_expected_signature()
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -40,17 +37,6 @@ prev_offroad_states: Dict[str, Tuple[bool, Optional[str]]] = {}
 LEON = False
 last_eon_fan_val = None
 
-
-def get_thermal_config():
-  # (tz, scale)
-  if EON:
-    return ThermalConfig(cpu=((5, 7, 10, 12), 10), gpu=((16,), 10), mem=(2, 10), bat=(29, 1000), ambient=(25, 1))
-  elif TICI:
-    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))
-  else:
-    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), ambient=(None, 1))
-
-
 def read_tz(x):
   if x is None:
     return 0
@@ -198,7 +184,7 @@ def thermald_thread():
   power_monitor = PowerMonitoring()
   no_panda_cnt = 0
 
-  thermal_config = get_thermal_config()
+  thermal_config = HARDWARE.get_thermal_config()
 
   while 1:
     pandaState = messaging.recv_sock(pandaState_sock, wait=True)
@@ -395,7 +381,7 @@ def thermald_thread():
       cloudlog.info(f"shutting device down, offroad since {off_ts}")
       # TODO: add function for blocking cloudlog instead of sleep
       time.sleep(10)
-      os.system('LD_LIBRARY_PATH="" svc power shutdown')
+      HARDWARE.shutdown()
 
     msg.deviceState.chargingError = current_filter.x > 0. and msg.deviceState.batteryPercent < 90  # if current is positive, then battery is being discharged
     msg.deviceState.started = started_ts is not None