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Add logs for why start was blocked (#2312) (#2346)

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* Add logs for why start was blocked

* adding wrapper and prev offroad alert state

* Small updates and fixes

Co-authored-by: Willem Melching <willem.melching@gmail.com>

* Moving to dict of startup conditions

* Fixing dict access

* add type for dict

* remove global

* Use cloudlog event

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Fix driverview and snapshot start

* not always log

* Cleanup update alerts

* Only ignition needs init

* Fix typing

Co-authored-by: Logan Lasiter <lasiterlogan@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: a1fd08c1e1
commatwo_master
Willem Melching 5 years ago committed by GitHub
parent e952dd722d
commit 2fad3df58a
1 changed files with 48 additions and 79 deletions
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  1. 127
      selfdrive/thermald/thermald.py

127
selfdrive/thermald/thermald.py
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@ -3,6 +3,7 @@ import datetime
import os
import time
from collections import namedtuple
from typing import Dict, Optional, Tuple
import psutil
from smbus2 import SMBus
@ -39,6 +40,8 @@ DAYS_NO_CONNECTIVITY_MAX = 7 # do not allow to engage after a week without inte
DAYS_NO_CONNECTIVITY_PROMPT = 4 # send an offroad prompt after 4 days with no internet
DISCONNECT_TIMEOUT = 5. # wait 5 seconds before going offroad after disconnect so you get an alert
prev_offroad_states: Dict[str, Tuple[bool, Optional[str]]] = {}
LEON = False
last_eon_fan_val = None
@ -156,6 +159,13 @@ def handle_fan_uno(max_cpu_temp, bat_temp, fan_speed, ignition):
return new_speed
def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: Optional[str]=None):
if prev_offroad_states.get(offroad_alert, None) == (show_alert, extra_text):
return
prev_offroad_states[offroad_alert] = (show_alert, extra_text)
set_offroad_alert(offroad_alert, show_alert, extra_text)
def thermald_thread():
health_timeout = int(1000 * 2.5 * DT_TRML) # 2.5x the expected health frequency
@ -164,17 +174,18 @@ def thermald_thread():
health_sock = messaging.sub_sock('health', timeout=health_timeout)
location_sock = messaging.sub_sock('gpsLocation')
ignition = False
fan_speed = 0
count = 0
startup_conditions = {
"ignition": False,
}
off_ts = None
started_ts = None
started_seen = False
thermal_status = ThermalStatus.green
thermal_status_prev = ThermalStatus.green
usb_power = True
usb_power_prev = True
current_branch = get_git_branch()
network_type = NetworkType.none
@ -183,9 +194,6 @@ def thermald_thread():
current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
cpu_temp_filter = FirstOrderFilter(0., CPU_TEMP_TAU, DT_TRML)
health_prev = None
fw_version_match_prev = True
current_update_alert = None
time_valid_prev = True
should_start_prev = False
handle_fan = None
is_uno = False
@ -210,12 +218,12 @@ def thermald_thread():
if health.health.hwType == log.HealthData.HwType.unknown:
no_panda_cnt += 1
if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
if ignition:
if startup_conditions["ignition"]:
cloudlog.error("Lost panda connection while onroad")
ignition = False
startup_conditions["ignition"] = False
else:
no_panda_cnt = 0
ignition = health.health.ignitionLine or health.health.ignitionCan
startup_conditions["ignition"] = health.health.ignitionLine or health.health.ignitionCan
# Setup fan handler on first connect to panda
if handle_fan is None and health.health.hwType != log.HealthData.HwType.unknown:
@ -270,7 +278,7 @@ def thermald_thread():
bat_temp = msg.thermal.bat
if handle_fan is not None:
fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed, ignition)
fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed, startup_conditions["ignition"])
msg.thermal.fanSpeed = fan_speed
# If device is offroad we want to cool down before going onroad
@ -302,12 +310,8 @@ def thermald_thread():
now = datetime.datetime.utcnow()
# show invalid date/time alert
time_valid = now.year >= 2019
if time_valid and not time_valid_prev:
set_offroad_alert("Offroad_InvalidTime", False)
if not time_valid and time_valid_prev:
set_offroad_alert("Offroad_InvalidTime", True)
time_valid_prev = time_valid
startup_conditions["time_valid"] = now.year >= 2019
set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]))
# Show update prompt
try:
@ -326,72 +330,41 @@ def thermald_thread():
else:
extra_text = last_update_exception
if current_update_alert != "update" + extra_text:
current_update_alert = "update" + extra_text
set_offroad_alert("Offroad_ConnectivityNeeded", False)
set_offroad_alert("Offroad_ConnectivityNeededPrompt", False)
set_offroad_alert("Offroad_UpdateFailed", True, extra_text=extra_text)
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
set_offroad_alert_if_changed("Offroad_UpdateFailed", True, extra_text=extra_text)
elif dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
if current_update_alert != "expired":
current_update_alert = "expired"
set_offroad_alert("Offroad_UpdateFailed", False)
set_offroad_alert("Offroad_ConnectivityNeededPrompt", False)
set_offroad_alert("Offroad_ConnectivityNeeded", True)
set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", True)
elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
if current_update_alert != "prompt" + remaining_time:
current_update_alert = "prompt" + remaining_time
set_offroad_alert("Offroad_UpdateFailed", False)
set_offroad_alert("Offroad_ConnectivityNeeded", False)
set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining_time} days.")
elif current_update_alert is not None:
current_update_alert = None
set_offroad_alert("Offroad_UpdateFailed", False)
set_offroad_alert("Offroad_ConnectivityNeeded", False)
set_offroad_alert("Offroad_ConnectivityNeededPrompt", False)
do_uninstall = params.get("DoUninstall") == b"1"
accepted_terms = params.get("HasAcceptedTerms") == terms_version
set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining_time} days.")
else:
set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
startup_conditions["not_uninstalling"] = not params.get("DoUninstall") == b"1"
startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
completed_training = params.get("CompletedTrainingVersion") == training_version
panda_signature = params.get("PandaFirmware")
fw_version_match = (panda_signature is None) or (panda_signature == FW_SIGNATURE) # don't show alert is no panda is connected (None)
should_start = ignition
startup_conditions["fw_version_match"] = (panda_signature is None) or (panda_signature == FW_SIGNATURE) # don't show alert is no panda is connected (None)
set_offroad_alert_if_changed("Offroad_PandaFirmwareMismatch", (not startup_conditions["fw_version_match"]))
# 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
# confirm we have completed training and aren't uninstalling
should_start = should_start and accepted_terms and (not do_uninstall) and \
(completed_training or current_branch in ['dashcam', 'dashcam-staging'])
# check for firmware mismatch
should_start = should_start and fw_version_match
# check if system time is valid
should_start = should_start and time_valid
# don't start while taking snapshot
if not should_start_prev:
is_viewing_driver = params.get("IsDriverViewEnabled") == b"1"
is_taking_snapshot = params.get("IsTakingSnapshot") == b"1"
should_start = should_start and (not is_taking_snapshot) and (not is_viewing_driver)
if fw_version_match and not fw_version_match_prev:
set_offroad_alert("Offroad_PandaFirmwareMismatch", False)
if not fw_version_match and fw_version_match_prev:
set_offroad_alert("Offroad_PandaFirmwareMismatch", True)
startup_conditions["free_space"] = msg.thermal.freeSpace > 0.02
startup_conditions["completed_training"] = completed_training or (current_branch in ['dashcam', 'dashcam-staging'])
startup_conditions["not_driver_view"] = not params.get("IsDriverViewEnabled") == b"1"
startup_conditions["not_taking_snapshot"] = not params.get("IsTakingSnapshot") == b"1"
# 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:
should_start = False
if thermal_status_prev < ThermalStatus.danger:
set_offroad_alert("Offroad_TemperatureTooHigh", True)
else:
if thermal_status_prev >= ThermalStatus.danger:
set_offroad_alert("Offroad_TemperatureTooHigh", False)
startup_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not startup_conditions["device_temp_good"]))
should_start = all(startup_conditions.values())
if should_start:
if not should_start_prev:
@ -403,6 +376,8 @@ def thermald_thread():
started_seen = True
os.system('echo performance > /sys/class/devfreq/soc:qcom,cpubw/governor')
else:
if startup_conditions["ignition"]:
cloudlog.event("Startup blocked", startup_conditions=startup_conditions)
if should_start_prev or (count == 0):
put_nonblocking("IsOffroad", "1")
@ -433,14 +408,8 @@ def thermald_thread():
msg.thermal.thermalStatus = thermal_status
thermal_sock.send(msg.to_bytes())
if usb_power_prev and not usb_power:
set_offroad_alert("Offroad_ChargeDisabled", True)
elif usb_power and not usb_power_prev:
set_offroad_alert("Offroad_ChargeDisabled", False)
set_offroad_alert_if_changed("Offroad_ChargeDisabled", (not usb_power))
thermal_status_prev = thermal_status
usb_power_prev = usb_power
fw_version_match_prev = fw_version_match
should_start_prev = should_start
# report to server once per minute

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