alert for per-core cpu usage (#21983)

* thermald: per-core cpu usage

* add alert

* better alert text

* list

* fix process replay

cereal

@@ -1 +1 @@
-Subproject commit dbdab72167c83ee12968e44df646436bd0a4727e
+Subproject commit 9c23923d4840c622d88c0408f72776db363dd22f

selfdrive/controls/controlsd.py

@@ -23,7 +23,7 @@ from selfdrive.controls.lib.events import Events, ET
 from selfdrive.controls.lib.alertmanager import AlertManager
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.locationd.calibrationd import Calibration
-from selfdrive.hardware import HARDWARE, TICI
+from selfdrive.hardware import HARDWARE, TICI, EON
 from selfdrive.manager.process_config import managed_processes
 
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
@@ -201,6 +201,9 @@ class Controls:
     # TODO: make tici threshold the same
     if self.sm['deviceState'].memoryUsagePercent > (90 if TICI else 65) and not SIMULATION:
       self.events.add(EventName.lowMemory)
+    cpus = list(self.sm['deviceState'].cpuUsagePercent)[:(-1 if EON else None)]
+    if max(cpus, default=0) > 95:
+      self.events.add(EventName.highCpuUsage)
 
     # Alert if fan isn't spinning for 5 seconds
     if self.sm['pandaState'].pandaType in [PandaType.uno, PandaType.dos]:

selfdrive/controls/lib/events.py

@@ -732,6 +732,13 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
                               audible_alert=AudibleAlert.chimeDisengage),
   },
 
+  EventName.highCpuUsage: {
+    #ET.SOFT_DISABLE: SoftDisableAlert("System Malfunction: Reboot Your Device"),
+    #ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"),
+    ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device",
+                              audible_alert=AudibleAlert.chimeDisengage),
+  },
+
   EventName.accFaulted: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Faulted"),
     ET.PERMANENT: NormalPermanentAlert("Cruise Faulted", ""),

selfdrive/thermald/thermald.py

@@ -259,7 +259,7 @@ def thermald_thread():
 
     msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)
     msg.deviceState.memoryUsagePercent = int(round(psutil.virtual_memory().percent))
-    msg.deviceState.cpuUsagePercent = int(round(psutil.cpu_percent()))
+    msg.deviceState.cpuUsagePercent = [int(round(n)) for n in psutil.cpu_percent(percpu=True)]
     msg.deviceState.gpuUsagePercent = int(round(HARDWARE.get_gpu_usage_percent()))
     msg.deviceState.networkType = network_type
     msg.deviceState.networkStrength = network_strength