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@ -1,23 +1,33 @@ |
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#!/usr/bin/env python3 |
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import os |
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import datetime |
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import psutil |
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import os |
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import time |
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from collections import namedtuple |
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import psutil |
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from smbus2 import SMBus |
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import cereal.messaging as messaging |
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from cereal import log |
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from common.android import ANDROID, get_network_type, get_network_strength |
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from common.params import Params, put_nonblocking |
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from common.realtime import sec_since_boot, DT_TRML |
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from common.numpy_fast import clip, interp |
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from common.android import get_network_strength, get_network_type |
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from common.filter_simple import FirstOrderFilter |
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from selfdrive.version import terms_version, training_version, get_git_branch |
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from selfdrive.swaglog import cloudlog |
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import cereal.messaging as messaging |
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from common.hardware import EON, TICI |
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from common.numpy_fast import clip, interp |
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from common.params import Params, put_nonblocking |
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from common.realtime import DT_TRML, sec_since_boot |
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from selfdrive.controls.lib.alertmanager import set_offroad_alert |
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from selfdrive.loggerd.config import get_available_percent |
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from selfdrive.pandad import get_expected_signature |
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from selfdrive.thermald.power_monitoring import PowerMonitoring, get_battery_capacity, get_battery_status, \ |
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get_battery_current, get_battery_voltage, get_usb_present |
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from selfdrive.swaglog import cloudlog |
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from selfdrive.thermald.power_monitoring import (PowerMonitoring, |
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get_battery_capacity, |
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get_battery_current, |
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get_battery_status, |
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get_battery_voltage, |
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get_usb_present) |
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from selfdrive.version import get_git_branch, terms_version, training_version |
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ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambient']) |
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FW_SIGNATURE = get_expected_signature() |
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@ -34,31 +44,34 @@ LEON = False |
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last_eon_fan_val = None |
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def read_tz(x, clip=True): |
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if not ANDROID: |
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# we don't monitor thermal on PC |
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def get_thermal_config(): |
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# (tz, scale) |
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if EON: |
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return ThermalConfig(cpu=((5, 7, 10, 12), 10), gpu=((16,), 10), mem=(2, 10), bat=(29, 1000), ambient=(25, 1)) |
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elif TICI: |
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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)) |
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else: |
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return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), ambient=(None, 1)) |
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def read_tz(x): |
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if x is None: |
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return 0 |
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try: |
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with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f: |
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ret = int(f.read()) |
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if clip: |
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ret = max(0, ret) |
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return int(f.read()) |
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except FileNotFoundError: |
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return 0 |
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return ret |
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def read_thermal(): |
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def read_thermal(thermal_config): |
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dat = messaging.new_message('thermal') |
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dat.thermal.cpu0 = read_tz(5) |
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dat.thermal.cpu1 = read_tz(7) |
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dat.thermal.cpu2 = read_tz(10) |
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dat.thermal.cpu3 = read_tz(12) |
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dat.thermal.mem = read_tz(2) |
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dat.thermal.gpu = read_tz(16) |
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dat.thermal.bat = read_tz(29) |
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dat.thermal.pa0 = read_tz(25) |
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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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return dat |
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@ -183,11 +196,13 @@ def thermald_thread(): |
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pm = PowerMonitoring() |
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no_panda_cnt = 0 |
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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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location = messaging.recv_sock(location_sock) |
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location = location.gpsLocation if location else None |
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msg = read_thermal() |
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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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@ -208,7 +223,7 @@ def thermald_thread(): |
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is_uno = health.health.hwType == log.HealthData.HwType.uno |
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has_relay = health.health.hwType in [log.HealthData.HwType.blackPanda, log.HealthData.HwType.uno, log.HealthData.HwType.dos] |
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if is_uno or not ANDROID: |
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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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handle_fan = handle_fan_uno |
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else: |
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@ -243,7 +258,7 @@ def thermald_thread(): |
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msg.thermal.usbOnline = get_usb_present() |
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# Fake battery levels on uno for frame |
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if is_uno: |
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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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@ -251,14 +266,9 @@ def thermald_thread(): |
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current_filter.update(msg.thermal.batteryCurrent / 1e6) |
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# TODO: add car battery voltage check |
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max_cpu_temp = cpu_temp_filter.update( |
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max(msg.thermal.cpu0, |
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msg.thermal.cpu1, |
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msg.thermal.cpu2, |
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msg.thermal.cpu3) / 10.0) |
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max_comp_temp = max(max_cpu_temp, msg.thermal.mem / 10., msg.thermal.gpu / 10.) |
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bat_temp = msg.thermal.bat / 1000. |
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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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if handle_fan is not None: |
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fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed, ignition) |
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Tici Agent
5 years ago