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@ -26,9 +26,9 @@ ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambien |
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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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ThermalStatus = log.DeviceState.ThermalStatus |
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NetworkType = log.DeviceState.NetworkType |
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NetworkStrength = log.DeviceState.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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@ -63,12 +63,12 @@ def read_tz(x): |
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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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dat = messaging.new_message('deviceState') |
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dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]] |
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dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]] |
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dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1] |
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dat.deviceState.ambientTempC = read_tz(thermal_config.ambient[0]) / thermal_config.ambient[1] |
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dat.deviceState.batteryTempC = read_tz(thermal_config.bat[0]) / thermal_config.bat[1] |
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return dat |
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@ -163,10 +163,10 @@ def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_tex |
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def thermald_thread(): |
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pm = messaging.PubMaster(['thermal']) |
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pm = messaging.PubMaster(['deviceState']) |
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health_timeout = int(1000 * 2.5 * DT_TRML) # 2.5x the expected health frequency |
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health_sock = messaging.sub_sock('health', timeout=health_timeout) |
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pandaState_timeout = int(1000 * 2.5 * DT_TRML) # 2.5x the expected pandaState frequency |
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pandaState_sock = messaging.sub_sock('pandaState', timeout=pandaState_timeout) |
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location_sock = messaging.sub_sock('gpsLocationExternal') |
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fan_speed = 0 |
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@ -189,7 +189,7 @@ def thermald_thread(): |
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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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pandaState_prev = None |
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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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@ -201,14 +201,14 @@ def thermald_thread(): |
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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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pandaState = messaging.recv_sock(pandaState_sock, wait=True) |
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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 pandaState is not None: |
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usb_power = pandaState.pandaState.usbPowerMode != log.PandaState.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.pandaType == log.HealthData.PandaType.unknown: |
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if pandaState.pandaState.pandaType == log.PandaState.PandaType.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 startup_conditions["ignition"]: |
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@ -216,11 +216,11 @@ def thermald_thread(): |
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startup_conditions["ignition"] = False |
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else: |
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no_panda_cnt = 0 |
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startup_conditions["ignition"] = health.health.ignitionLine or health.health.ignitionCan |
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startup_conditions["ignition"] = pandaState.pandaState.ignitionLine or pandaState.pandaState.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.pandaType != log.HealthData.PandaType.unknown: |
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is_uno = health.health.pandaType == log.HealthData.PandaType.uno |
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if handle_fan is None and pandaState.pandaState.pandaType != log.PandaState.PandaType.unknown: |
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is_uno = pandaState.pandaState.pandaType == log.PandaState.PandaType.uno |
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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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@ -231,11 +231,11 @@ def thermald_thread(): |
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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.pandaType == log.HealthData.PandaType.unknown and \ |
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health_prev.health.pandaType != log.HealthData.PandaType.unknown: |
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if pandaState_prev is not None: |
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if pandaState.pandaState.pandaType == log.PandaState.PandaType.unknown and \ |
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pandaState_prev.pandaState.pandaType != log.PandaState.PandaType.unknown: |
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params.panda_disconnect() |
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health_prev = health |
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pandaState_prev = pandaState |
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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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@ -245,33 +245,33 @@ def thermald_thread(): |
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except Exception: |
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cloudlog.exception("Error getting network status") |
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msg.thermal.freeSpacePercent = get_available_percent(default=100.0) / 100.0 |
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msg.thermal.memoryUsagePercent = int(round(psutil.virtual_memory().percent)) |
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msg.thermal.cpuUsagePercent = 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 = HARDWARE.get_battery_capacity() |
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msg.thermal.batteryStatus = HARDWARE.get_battery_status() |
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msg.thermal.batteryCurrent = HARDWARE.get_battery_current() |
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msg.thermal.batteryVoltage = HARDWARE.get_battery_voltage() |
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msg.thermal.usbOnline = HARDWARE.get_usb_present() |
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msg.deviceState.freeSpacePercent = get_available_percent(default=100.0) / 100.0 |
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msg.deviceState.memoryUsagePercent = int(round(psutil.virtual_memory().percent)) |
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msg.deviceState.cpuUsagePercent = int(round(psutil.cpu_percent())) |
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msg.deviceState.networkType = network_type |
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msg.deviceState.networkStrength = network_strength |
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msg.deviceState.batteryPercent = HARDWARE.get_battery_capacity() |
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msg.deviceState.batteryStatus = HARDWARE.get_battery_status() |
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msg.deviceState.batteryCurrent = HARDWARE.get_battery_current() |
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msg.deviceState.batteryVoltage = HARDWARE.get_battery_voltage() |
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msg.deviceState.usbOnline = HARDWARE.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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msg.deviceState.batteryPercent = 100 |
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msg.deviceState.batteryStatus = "Charging" |
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msg.deviceState.batteryTempC = 0 |
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current_filter.update(msg.thermal.batteryCurrent / 1e6) |
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current_filter.update(msg.deviceState.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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max_cpu_temp = cpu_temp_filter.update(max(msg.deviceState.cpuTempC)) |
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max_comp_temp = max(max_cpu_temp, msg.deviceState.memoryTempC, max(msg.deviceState.gpuTempC)) |
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bat_temp = msg.deviceState.batteryTempC |
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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, startup_conditions["ignition"]) |
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msg.thermal.fanSpeedPercentDesired = fan_speed |
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msg.deviceState.fanSpeedPercentDesired = 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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@ -347,7 +347,7 @@ def thermald_thread(): |
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set_offroad_alert_if_changed("Offroad_PandaFirmwareMismatch", (not startup_conditions["fw_version_match"])) |
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# with 2% left, we killall, otherwise the phone will take a long time to boot |
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startup_conditions["free_space"] = msg.thermal.freeSpacePercent > 0.02 |
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startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 0.02 |
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startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \ |
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(current_branch in ['dashcam', 'dashcam-staging']) |
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startup_conditions["not_driver_view"] = not params.get("IsDriverViewEnabled") == b"1" |
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@ -357,9 +357,9 @@ def thermald_thread(): |
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startup_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger |
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set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not startup_conditions["device_temp_good"])) |
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startup_conditions["hardware_supported"] = health is not None and health.health.pandaType not in [log.HealthData.PandaType.whitePanda, |
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log.HealthData.PandaType.greyPanda] |
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set_offroad_alert_if_changed("Offroad_HardwareUnsupported", health is not None and not startup_conditions["hardware_supported"]) |
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startup_conditions["hardware_supported"] = pandaState is not None and pandaState.pandaState.pandaType not in [log.PandaState.PandaType.whitePanda, |
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log.PandaState.PandaType.greyPanda] |
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set_offroad_alert_if_changed("Offroad_HardwareUnsupported", pandaState is not None and not startup_conditions["hardware_supported"]) |
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# Handle offroad/onroad transition |
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should_start = all(startup_conditions.values()) |
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@ -383,26 +383,26 @@ def thermald_thread(): |
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off_ts = sec_since_boot() |
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# Offroad power monitoring |
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power_monitor.calculate(health) |
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msg.thermal.offroadPowerUsage = power_monitor.get_power_used() |
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msg.thermal.carBatteryCapacity = max(0, power_monitor.get_car_battery_capacity()) |
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power_monitor.calculate(pandaState) |
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msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used() |
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msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.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 = power_monitor.should_disable_charging(health, off_ts) |
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msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(pandaState, off_ts) |
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# Check if we need to shut down |
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if power_monitor.should_shutdown(health, off_ts, started_seen, LEON): |
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if power_monitor.should_shutdown(pandaState, 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.startedMonoTime = int(1e9*(started_ts or 0)) |
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msg.deviceState.chargingError = current_filter.x > 0. and msg.deviceState.batteryPercent < 90 # if current is positive, then battery is being discharged |
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msg.deviceState.started = started_ts is not None |
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msg.deviceState.startedMonoTime = int(1e9*(started_ts or 0)) |
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msg.thermal.thermalStatus = thermal_status |
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pm.send("thermal", msg) |
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msg.deviceState.thermalStatus = thermal_status |
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pm.send("deviceState", msg) |
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set_offroad_alert_if_changed("Offroad_ChargeDisabled", (not usb_power)) |
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@ -414,9 +414,9 @@ def thermald_thread(): |
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location = messaging.recv_sock(location_sock) |
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cloudlog.event("STATUS_PACKET", |
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count=count, |
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health=(health.to_dict() if health else None), |
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pandaState=(pandaState.to_dict() if pandaState else None), |
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location=(location.gpsLocationExternal.to_dict() if location else None), |
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thermal=msg.to_dict()) |
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deviceState=msg.to_dict()) |
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count += 1 |
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Adeeb Shihadeh
4 years ago
committed by
GitHub