openpilot_comma/selfdrive/thermald.py

#!/usr/bin/env python2.7
import os
import zmq
from smbus2 import SMBus
from cereal import log
from selfdrive.version import training_version
from selfdrive.swaglog import cloudlog
import selfdrive.messaging as messaging
from selfdrive.services import service_list
from selfdrive.loggerd.config import ROOT
from common.params import Params
from common.realtime import sec_since_boot
from common.numpy_fast import clip
from common.filter_simple import FirstOrderFilter

ThermalStatus = log.ThermalData.ThermalStatus
CURRENT_TAU = 2.   # 2s time constant

def read_tz(x):
  with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f:
    ret = max(0, int(f.read()))
  return ret

def read_thermal():
  dat = messaging.new_message()
  dat.init('thermal')
  dat.thermal.cpu0 = read_tz(5)
  dat.thermal.cpu1 = read_tz(7)
  dat.thermal.cpu2 = read_tz(10)
  dat.thermal.cpu3 = read_tz(12)
  dat.thermal.mem = read_tz(2)
  dat.thermal.gpu = read_tz(16)
  dat.thermal.bat = read_tz(29)
  return dat

LEON = False
def setup_eon_fan():
  global LEON

  os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch")

  bus = SMBus(7, force=True)
  try:
    bus.write_byte_data(0x21, 0x10, 0xf)   # mask all interrupts
    bus.write_byte_data(0x21, 0x03, 0x1)   # set drive current and global interrupt disable
    bus.write_byte_data(0x21, 0x02, 0x2)   # needed?
    bus.write_byte_data(0x21, 0x04, 0x4)   # manual override source
  except IOError:
    print "LEON detected"
    #os.system("echo 1 > /sys/devices/soc/6a00000.ssusb/power_supply/usb/usb_otg")
    LEON = True
  bus.close()

last_eon_fan_val = None
def set_eon_fan(val):
  global LEON, last_eon_fan_val

  if last_eon_fan_val is None or last_eon_fan_val != val:
    bus = SMBus(7, force=True)
    if LEON:
      try:
        i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
        bus.write_i2c_block_data(0x3d, 0, [i])
      except IOError:
        # tusb320
        if val == 0:
          bus.write_i2c_block_data(0x67, 0xa, [0])
        else:
          bus.write_i2c_block_data(0x67, 0xa, [0x20])
          bus.write_i2c_block_data(0x67, 0x8, [(val-1)<<6])
    else:
      bus.write_byte_data(0x21, 0x04, 0x2)
      bus.write_byte_data(0x21, 0x03, (val*2)+1)
      bus.write_byte_data(0x21, 0x04, 0x4)
    bus.close()
    last_eon_fan_val = val

# temp thresholds to control fan speed - high hysteresis
_TEMP_THRS_H = [50., 65., 80., 10000]
# temp thresholds to control fan speed - low hysteresis
_TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
# fan speed options
_FAN_SPEEDS = [0, 16384, 32768, 65535]
# max fan speed only allowed if battery is hot
_BAT_TEMP_THERSHOLD = 45.


def handle_fan(max_cpu_temp, bat_temp, fan_speed):
  new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_cpu_temp)
  new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_cpu_temp)

  if new_speed_h > fan_speed:
    # update speed if using the high thresholds results in fan speed increment
    fan_speed = new_speed_h
  elif new_speed_l < fan_speed:
    # update speed if using the low thresholds results in fan speed decrement
    fan_speed = new_speed_l

  if bat_temp < _BAT_TEMP_THERSHOLD:
    # no max fan speed unless battery is hot
    fan_speed = min(fan_speed, _FAN_SPEEDS[-2])

  set_eon_fan(fan_speed/16384)

  return fan_speed


def check_car_battery_voltage(should_start, health, charging_disabled):

  # charging disallowed if:
  #   - there are health packets from panda, and;
  #   - 12V battery voltage is too low, and;
  #   - onroad isn't started
  if charging_disabled and (health is None or health.health.voltage > 11500):
    charging_disabled = False
    os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
  elif not charging_disabled and health is not None and health.health.voltage < 11000 and not should_start:
    charging_disabled = True
    os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')

  return charging_disabled


class LocationStarter(object):
  def __init__(self):
    self.last_good_loc = 0
  def update(self, started_ts, location):
    rt = sec_since_boot()

    if location is None or location.accuracy > 50 or location.speed < 2:
      # bad location, stop if we havent gotten a location in a while
      # dont stop if we're been going for less than a minute
      if started_ts:
        if rt-self.last_good_loc > 60. and rt-started_ts > 60:
          cloudlog.event("location_stop",
            ts=rt,
            started_ts=started_ts,
            last_good_loc=self.last_good_loc,
            location=location.to_dict() if location else None)
          return False
        else:
          return True
      else:
        return False

    self.last_good_loc = rt

    if started_ts:
      return True
    else:
      cloudlog.event("location_start", location=location.to_dict() if location else None)
      return location.speed*3.6 > 10


def thermald_thread():
  setup_eon_fan()

  # prevent LEECO from undervoltage
  BATT_PERC_OFF = 10 if LEON else 3

  # now loop
  context = zmq.Context()
  thermal_sock = messaging.pub_sock(context, service_list['thermal'].port)
  health_sock = messaging.sub_sock(context, service_list['health'].port)
  location_sock = messaging.sub_sock(context, service_list['gpsLocation'].port)
  fan_speed = 0
  count = 0

  off_ts = None
  started_ts = None
  ignition_seen = False
  started_seen = False
  passive_starter = LocationStarter()
  thermal_status = ThermalStatus.green
  health_sock.RCVTIMEO = 1500
  current_filter = FirstOrderFilter(0., CURRENT_TAU, 1.)

  # Make sure charging is enabled
  charging_disabled = False
  os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')

  params = Params()

  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()

    # loggerd is gated based on free space
    statvfs = os.statvfs(ROOT)
    avail = (statvfs.f_bavail * 1.0)/statvfs.f_blocks

    # thermal message now also includes free space
    msg.thermal.freeSpace = avail
    with open("/sys/class/power_supply/battery/capacity") as f:
      msg.thermal.batteryPercent = int(f.read())
    with open("/sys/class/power_supply/battery/status") as f:
      msg.thermal.batteryStatus = f.read().strip()
    with open("/sys/class/power_supply/battery/current_now") as f:
      msg.thermal.batteryCurrent = int(f.read())
    with open("/sys/class/power_supply/battery/voltage_now") as f:
      msg.thermal.batteryVoltage = int(f.read())
    with open("/sys/class/power_supply/usb/present") as f:
      msg.thermal.usbOnline = bool(int(f.read()))

    current_filter.update(msg.thermal.batteryCurrent / 1e6)

    # TODO: add car battery voltage check
    max_cpu_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
                       msg.thermal.cpu2, msg.thermal.cpu3) / 10.0
    max_comp_temp = max(max_cpu_temp, msg.thermal.mem / 10., msg.thermal.gpu / 10.)
    bat_temp = msg.thermal.bat/1000.
    fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed)
    msg.thermal.fanSpeed = fan_speed

    # thermal logic with hysterisis
    if max_cpu_temp > 107. or bat_temp >= 63.:
      # onroad not allowed
      thermal_status = ThermalStatus.danger
    elif max_comp_temp > 95. or bat_temp > 60.:
      # hysteresis between onroad not allowed and engage not allowed
      thermal_status = clip(thermal_status, ThermalStatus.red, ThermalStatus.danger)
    elif max_cpu_temp > 90.0:
      # hysteresis between engage not allowed and uploader not allowed
      thermal_status = clip(thermal_status, ThermalStatus.yellow, ThermalStatus.red)
    elif max_cpu_temp > 85.0:
      # uploader not allowed
      thermal_status = ThermalStatus.yellow
    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 ****

    # start constellation of processes when the car starts
    ignition = health is not None and health.health.started
    ignition_seen = ignition_seen or ignition

    # add voltage check for ignition
    if not ignition_seen and health is not None and health.health.voltage > 13500:
      ignition = True

    do_uninstall = params.get("DoUninstall") == "1"
    accepted_terms = params.get("HasAcceptedTerms") == "1"
    completed_training = params.get("CompletedTrainingVersion") == training_version

    should_start = ignition

    # have we seen a panda?
    passive = (params.get("Passive") == "1")

    # start on gps movement if we haven't seen ignition and are in passive mode
    should_start = should_start or (not (ignition_seen and health) # seen ignition and panda is connected
                                    and passive
                                    and passive_starter.update(started_ts, location))

    # with 2% left, we killall, otherwise the phone will take a long time to boot
    should_start = should_start and msg.thermal.freeSpace > 0.02

    # require usb power in passive mode
    should_start = should_start and (not passive or msg.thermal.usbOnline)

    # confirm we have completed training and aren't uninstalling
    should_start = should_start and accepted_terms and (passive or completed_training) and (not do_uninstall)

    # if any CPU gets above 107 or the battery gets above 63, kill all processes
    # controls will warn with CPU above 95 or battery above 60
    if thermal_status >= ThermalStatus.danger:
      # TODO: Add a better warning when this is happening
      should_start = False

    if should_start:
      off_ts = None
      if started_ts is None:
        params.car_start()
        started_ts = sec_since_boot()
        started_seen = True
    else:
      started_ts = None
      if off_ts is None:
        off_ts = sec_since_boot()

      # shutdown if the battery gets lower than 3%, it's discharging, we aren't running for
      # more than a minute but we were running
      if msg.thermal.batteryPercent < BATT_PERC_OFF and msg.thermal.batteryStatus == "Discharging" and \
         started_seen and (sec_since_boot() - off_ts) > 60:
        os.system('LD_LIBRARY_PATH="" svc power shutdown')

    charging_disabled = check_car_battery_voltage(should_start, health, charging_disabled)

    msg.thermal.chargingDisabled = charging_disabled
    msg.thermal.chargingError = current_filter.x > 1.0   # if current is > 1A out, then charger might be off
    msg.thermal.started = started_ts is not None
    msg.thermal.startedTs = int(1e9*(started_ts or 0))

    msg.thermal.thermalStatus = thermal_status
    thermal_sock.send(msg.to_bytes())
    print msg

    # report to server once per minute
    if (count%60) == 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())

    count += 1


def main(gctx=None):
  thermald_thread()

if __name__ == "__main__":
  main()