diff --git a/system/sensord/SConscript b/system/sensord/SConscript index 8f26c00853..63d1d0d690 100644 --- a/system/sensord/SConscript +++ b/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', diff --git a/system/sensord/sensors/file_sensor.cc b/system/sensord/sensors/file_sensor.cc deleted file mode 100644 index a74ae1ae1e..0000000000 --- a/system/sensord/sensors/file_sensor.cc +++ /dev/null @@ -1,17 +0,0 @@ -#include "file_sensor.h" - -#include - -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; -} \ No newline at end of file diff --git a/system/sensord/sensors/file_sensor.h b/system/sensord/sensors/file_sensor.h deleted file mode 100644 index 07d7e8f946..0000000000 --- a/system/sensord/sensors/file_sensor.h +++ /dev/null @@ -1,19 +0,0 @@ -#pragma once - -#include -#include - -#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; -}; diff --git a/system/sensord/sensors/light_sensor.cc b/system/sensord/sensors/light_sensor.cc deleted file mode 100644 index 99e321b47d..0000000000 --- a/system/sensord/sensors/light_sensor.cc +++ /dev/null @@ -1,27 +0,0 @@ -#include "light_sensor.h" - -#include - -#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; -} diff --git a/system/sensord/sensors/light_sensor.h b/system/sensord/sensors/light_sensor.h deleted file mode 100644 index 7ed1c1f70c..0000000000 --- a/system/sensord/sensors/light_sensor.h +++ /dev/null @@ -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; } -}; diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc index e09c722fc2..9276a029c3 100644 --- a/system/sensord/sensors_qcom2.cc +++ b/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_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", - "lightSensor", "magnetometer"}); + PubMaster pm_non_int({"gyroscope2", "accelerometer2", "temperatureSensor", "magnetometer"}); init_ts = nanos_since_boot(); // thread for reading events via interrupts diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index b394a86b59..87ead0bc1b 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -29,24 +29,16 @@ MMC = { ('mmc5603nj', 'magneticUncalibrated'), } -RPR = { - ('rpr0521', 'light'), -} - SENSOR_CONFIGURATIONS = ( - (BMX | LSM | RPR), - (MMC | LSM | RPR), - (BMX | LSM_C | RPR), - (MMC| LSM_C | RPR), + (BMX | LSM), + (MMC | LSM), + (BMX | LSM_C), + (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: