thermald is hardwared (#32637)

* thermald is deviced

* hardwared

* rename
old-commit-hash: 51fdf23304

common/realtime.py

@@ -12,7 +12,7 @@ from openpilot.system.hardware import PC
 # time step for each process
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
-DT_TRML = 0.5  # thermald and manager
+DT_HW = 0.5  # hardwared and manager
 DT_DMON = 0.05  # driver monitoring
 
 

pyproject.toml

@@ -29,10 +29,9 @@ testpaths = [
   "selfdrive/test/longitudinal_maneuvers",
   "selfdrive/test/process_replay/test_fuzzy.py",
   "system/updated",
-  "system/thermald",
   "system/athena",
   "system/camerad",
-  "system/hardware/tici",
+  "system/hardware",
   "system/loggerd",
   "system/proclogd",
   "system/tests",

selfdrive/test/test_onroad.py

@@ -47,7 +47,7 @@ PROCS = {
   "selfdrive.controls.radard": 7.0,
   "selfdrive.modeld.modeld": 13.0,
   "selfdrive.modeld.dmonitoringmodeld": 8.0,
-  "system.thermald.thermald": 3.87,
+  "system.hardware.hardwared": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.ui.soundd": 3.5,

system/camerad/snapshot/snapshot.py

@@ -83,7 +83,7 @@ def snapshot():
   front_camera_allowed = params.get_bool("RecordFront")
   params.put_bool("IsTakingSnapshot", True)
   set_offroad_alert("Offroad_IsTakingSnapshot", True)
-  time.sleep(2.0)  # Give thermald time to read the param, or if just started give camerad time to start
+  time.sleep(2.0)  # Give hardwared time to read the param, or if just started give camerad time to start
 
   # Check if camerad is already started
   try:

system/hardware/fan_controller.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from abc import ABC, abstractmethod
 
-from openpilot.common.realtime import DT_TRML
+from openpilot.common.realtime import DT_HW
 from openpilot.common.numpy_fast import interp
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.pid import PIDController
@@ -18,7 +18,7 @@ class TiciFanController(BaseFanController):
     cloudlog.info("Setting up TICI fan handler")
 
     self.last_ignition = False
-    self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))
+    self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_HW))
 
   def update(self, cur_temp: float, ignition: bool) -> int:
     self.controller.neg_limit = -(100 if ignition else 30)

system/hardware/hardwared.py

@@ -15,14 +15,14 @@ from cereal.services import SERVICE_LIST
 from openpilot.common.dict_helpers import strip_deprecated_keys
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_TRML
+from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
 from openpilot.system.hardware import HARDWARE, TICI, AGNOS
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.thermald.power_monitoring import PowerMonitoring
-from openpilot.system.thermald.fan_controller import TiciFanController
+from openpilot.system.hardware.power_monitoring import PowerMonitoring
+from openpilot.system.hardware.fan_controller import TiciFanController
 from openpilot.system.version import terms_version, training_version
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -106,7 +106,7 @@ def hw_state_thread(end_event, hw_queue):
 
   while not end_event.is_set():
     # these are expensive calls. update every 10s
-    if (count % int(10. / DT_TRML)) == 0:
+    if (count % int(10. / DT_HW)) == 0:
       try:
         network_type = HARDWARE.get_network_type()
         modem_temps = HARDWARE.get_modem_temperatures()
@@ -159,10 +159,10 @@ def hw_state_thread(end_event, hw_queue):
         cloudlog.exception("Error getting hardware state")
 
     count += 1
-    time.sleep(DT_TRML)
+    time.sleep(DT_HW)
 
 
-def thermald_thread(end_event, hw_queue) -> None:
+def hardware_thread(end_event, hw_queue) -> None:
   pm = messaging.PubMaster(['deviceState'])
   sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates")
 
@@ -190,8 +190,8 @@ def thermald_thread(end_event, hw_queue) -> None:
     modem_temps=[],
   )
 
-  all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False)
-  offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False)
+  all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_HW, initialized=False)
+  offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_HW, initialized=False)
   should_start_prev = False
   in_car = False
   engaged_prev = False
@@ -232,7 +232,7 @@ def thermald_thread(end_event, hw_queue) -> None:
 
     # Run at 2Hz, plus rising edge of ignition
     ign_edge = started_ts is None and onroad_conditions["ignition"]
-    if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0) and not ign_edge:
+    if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
       continue
 
     msg = read_thermal(thermal_config)
@@ -349,7 +349,7 @@ def thermald_thread(end_event, hw_queue) -> None:
 
       try:
         with open('/dev/kmsg', 'w') as kmsg:
-          kmsg.write(f"<3>[thermald] engaged: {engaged}\n")
+          kmsg.write(f"<3>[hardware] engaged: {engaged}\n")
       except Exception:
         pass
 
@@ -423,7 +423,7 @@ def thermald_thread(end_event, hw_queue) -> None:
 
     # report to server once every 10 minutes
     rising_edge_started = should_start and not should_start_prev
-    if rising_edge_started or (count % int(600. / DT_TRML)) == 0:
+    if rising_edge_started or (count % int(600. / DT_HW)) == 0:
       dat = {
         'count': count,
         'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates],
@@ -452,7 +452,7 @@ def main():
 
   threads = [
     threading.Thread(target=hw_state_thread, args=(end_event, hw_queue)),
-    threading.Thread(target=thermald_thread, args=(end_event, hw_queue)),
+    threading.Thread(target=hardware_thread, args=(end_event, hw_queue)),
   ]
 
   for t in threads:

system/hardware/tests/test_fan_controller.py

@@ -1,6 +1,6 @@
 import pytest
 
-from openpilot.system.thermald.fan_controller import TiciFanController
+from openpilot.system.hardware.fan_controller import TiciFanController
 
 ALL_CONTROLLERS = [TiciFanController]
 

system/hardware/tests/test_power_monitoring.py

@@ -1,7 +1,7 @@
 import pytest
 
 from openpilot.common.params import Params
-from openpilot.system.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
+from openpilot.system.hardware.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
                                                 CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
 
 # Create fake time
@@ -17,9 +17,9 @@ VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3
 
 def pm_patch(mocker, name, value, constant=False):
   if constant:
-    mocker.patch(f"openpilot.system.thermald.power_monitoring.{name}", value)
+    mocker.patch(f"openpilot.system.hardware.power_monitoring.{name}", value)
   else:
-    mocker.patch(f"openpilot.system.thermald.power_monitoring.{name}", return_value=value)
+    mocker.patch(f"openpilot.system.hardware.power_monitoring.{name}", return_value=value)
 
 
 @pytest.fixture(autouse=True)

system/hardware/tici/hardware.py

@@ -412,7 +412,7 @@ class Tici(HardwareBase):
     if self.amplifier is not None:
       self.amplifier.initialize_configuration(self.get_device_type())
 
-    # Allow thermald to write engagement status to kmsg
+    # Allow hardwared to write engagement status to kmsg
     os.system("sudo chmod a+w /dev/kmsg")
 
     # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL

system/manager/process_config.py

@@ -76,7 +76,7 @@ procs = [
   PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
   PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
-  PythonProcess("thermald", "system.thermald.thermald", always_run),
+  PythonProcess("hardwared", "system.hardware.hardwared", always_run),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),