thermald: track engaged state in param and kmsg (#23478)

* thermald: track engaged state in param

* write in kmsg

* format string

* move to python

selfdrive/common/params.cc

@@ -86,7 +86,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
-    {"BootedOnroad", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"CalibrationParams", PERSISTENT},
     {"CarBatteryCapacity", PERSISTENT},
     {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
@@ -121,6 +120,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IMEI", PERSISTENT},
     {"InstallDate", PERSISTENT},
     {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
+    {"IsEngaged", PERSISTENT},
     {"IsLdwEnabled", PERSISTENT},
     {"IsMetric", PERSISTENT},
     {"IsOffroad", CLEAR_ON_MANAGER_START},

selfdrive/hardware/tici/hardware.py

@@ -320,6 +320,9 @@ class Tici(HardwareBase):
   def initialize_hardware(self):
     self.amplifier.initialize_configuration()
 
+    # Allow thermald to write engagement status to kmsg
+    os.system("sudo chmod a+w /dev/kmsg")
+
   def get_networks(self):
     r = {}
 

selfdrive/thermald/thermald.py

@@ -159,7 +159,7 @@ def thermald_thread() -> NoReturn:
 
   pandaState_timeout = int(1000 * 2.5 * DT_TRML)  # 2.5x the expected pandaState frequency
   pandaState_sock = messaging.sub_sock('pandaStates', timeout=pandaState_timeout)
-  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "managerState"])
+  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "managerState", "controlsState"])
 
   fan_speed = 0
   count = 0
@@ -192,6 +192,7 @@ def thermald_thread() -> NoReturn:
   handle_fan = None
   is_uno = False
   ui_running_prev = False
+  engaged_prev = False
 
   params = Params()
   power_monitor = PowerMonitoring()
@@ -203,10 +204,6 @@ def thermald_thread() -> NoReturn:
   # TODO: use PI controller for UNO
   controller = PIController(k_p=0, k_i=2e-3, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
 
-  # Leave flag for loggerd to indicate device was left onroad
-  if params.get_bool("IsOnroad"):
-    params.put_bool("BootedOnroad", True)
-
   while True:
     pandaStates = messaging.recv_sock(pandaState_sock, wait=True)
 
@@ -359,8 +356,23 @@ def thermald_thread() -> NoReturn:
     if should_start != should_start_prev or (count == 0):
       params.put_bool("IsOnroad", should_start)
       params.put_bool("IsOffroad", not should_start)
+
+      params.put_bool("IsEngaged", False)
+      engaged_prev = False
       HARDWARE.set_power_save(not should_start)
 
+    if sm.updated['controlsState']:
+      engaged = sm['controlsState'].enabled
+      if engaged != engaged_prev:
+        params.put_bool("IsEngaged", engaged)
+        engaged_prev = engaged
+
+      try:
+        with open('/dev/kmsg', 'w') as kmsg:
+          kmsg.write(f"[thermald] engaged: {engaged}")
+      except Exception:
+        pass
+
     if should_start:
       off_ts = None
       if started_ts is None: