Cool down device before going onroad if CPU temp over 75 C (#1688)

* Block going onroad when temperatures are too high

* add relay check
old-commit-hash: 955d2aefdd

selfdrive/thermald/thermald.py

@@ -184,6 +184,7 @@ def thermald_thread():
   should_start_prev = False
   handle_fan = None
   is_uno = False
+  has_relay = False
 
   params = Params()
   pm = PowerMonitoring()
@@ -212,6 +213,7 @@ def thermald_thread():
       # Setup fan handler on first connect to panda
       if handle_fan is None and health.health.hwType != log.HealthData.HwType.unknown:
         is_uno = health.health.hwType == log.HealthData.HwType.uno
+        has_relay = health.health.hwType in [log.HealthData.HwType.blackPanda, log.HealthData.HwType.uno]
 
         if is_uno or not ANDROID:
           cloudlog.info("Setting up UNO fan handler")
@@ -268,8 +270,10 @@ def thermald_thread():
       fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed, ignition)
       msg.thermal.fanSpeed = fan_speed
 
-    # thermal logic with hysterisis
-    if max_cpu_temp > 107. or bat_temp >= 63.:
+    # If device is offroad we want to cool down before going onroad
+    # since going onroad increases load and can make temps go over 107
+    # We only do this if there is a relay that prevents the car from faulting
+    if max_cpu_temp > 107. or bat_temp >= 63. or (has_relay and (started_ts is None) and max_cpu_temp > 75.0):
       # onroad not allowed
       thermal_status = ThermalStatus.danger
     elif max_comp_temp > 100.0 or bat_temp > 60.: