thermald: remove panda disconnect logic (#23526)

* thermald: remove panda disconnect logic

* keep that
old-commit-hash: ed23177898

common/params_pyx.pyx

@@ -8,7 +8,6 @@ cdef extern from "selfdrive/common/params.h":
   cpdef enum ParamKeyType:
     PERSISTENT
     CLEAR_ON_MANAGER_START
-    CLEAR_ON_PANDA_DISCONNECT
     CLEAR_ON_IGNITION_ON
     CLEAR_ON_IGNITION_OFF
     ALL

common/tests/test_params.py

@@ -24,14 +24,6 @@ class TestParams(unittest.TestCase):
     self.params.put("CarParams", st)
     assert self.params.get("CarParams") == st
 
-  def test_params_get_cleared_panda_disconnect(self):
-    self.params.put("CarParams", "test")
-    self.params.put("DongleId", "cb38263377b873ee")
-    assert self.params.get("CarParams") == b"test"
-    self.params.clear_all(ParamKeyType.CLEAR_ON_PANDA_DISCONNECT)
-    assert self.params.get("CarParams") is None
-    assert self.params.get("DongleId") is not None
-
   def test_params_get_cleared_manager_start(self):
     self.params.put("CarParams", "test")
     self.params.put("DongleId", "cb38263377b873ee")

selfdrive/common/params.cc

@@ -88,12 +88,12 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AthenadUploadQueue", PERSISTENT},
     {"CalibrationParams", PERSISTENT},
     {"CarBatteryCapacity", PERSISTENT},
-    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
-    {"CarParamsCache", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
-    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
+    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CarParamsCache", CLEAR_ON_MANAGER_START},
+    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CommunityFeaturesToggle", PERSISTENT},
     {"CompletedTrainingVersion", PERSISTENT},
-    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
+    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"DisablePowerDown", PERSISTENT},
     {"DisableRadar_Allow", PERSISTENT},
@@ -163,7 +163,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ApiCache_NavDestinations", PERSISTENT},
     {"ApiCache_Owner", PERSISTENT},
     {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"Offroad_ChargeDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
+    {"Offroad_ChargeDisabled", CLEAR_ON_MANAGER_START },
     {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
     {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
     {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},

selfdrive/common/params.h

@@ -6,10 +6,9 @@
 enum ParamKeyType {
   PERSISTENT = 0x02,
   CLEAR_ON_MANAGER_START = 0x04,
-  CLEAR_ON_PANDA_DISCONNECT = 0x08,
-  CLEAR_ON_IGNITION_ON = 0x10,
-  CLEAR_ON_IGNITION_OFF = 0x20,
-  DONT_LOG = 0x40,
+  CLEAR_ON_IGNITION_ON = 0x08,
+  CLEAR_ON_IGNITION_OFF = 0x10,
+  DONT_LOG = 0x20,
   ALL = 0xFFFFFFFF
 };
 

selfdrive/thermald/thermald.py

@@ -13,7 +13,7 @@ import cereal.messaging as messaging
 from cereal import log
 from common.filter_simple import FirstOrderFilter
 from common.numpy_fast import interp
-from common.params import Params, ParamKeyType
+from common.params import Params
 from common.realtime import DT_TRML, sec_since_boot
 from common.dict_helpers import strip_deprecated_keys
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
@@ -185,7 +185,6 @@ def thermald_thread() -> NoReturn:
 
   current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
   temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
-  pandaState_prev = None
   should_start_prev = False
   in_car = False
   handle_fan = None
@@ -194,7 +193,6 @@ def thermald_thread() -> NoReturn:
 
   params = Params()
   power_monitor = PowerMonitoring()
-  no_panda_cnt = 0
 
   HARDWARE.initialize_hardware()
   thermal_config = HARDWARE.get_thermal_config()
@@ -213,15 +211,7 @@ def thermald_thread() -> NoReturn:
     if pandaStates is not None and len(pandaStates.pandaStates) > 0:
       pandaState = pandaStates.pandaStates[0]
 
-      # If we lose connection to the panda, wait 5 seconds before going offroad
-      if pandaState.pandaType == log.PandaState.PandaType.unknown:
-        no_panda_cnt += 1
-        if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
-          if onroad_conditions["ignition"]:
-            cloudlog.error("Lost panda connection while onroad")
-          onroad_conditions["ignition"] = False
-      else:
-        no_panda_cnt = 0
+      if pandaState.pandaType != log.PandaState.PandaType.unknown:
         onroad_conditions["ignition"] = pandaState.ignitionLine or pandaState.ignitionCan
 
       in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected
@@ -242,13 +232,6 @@ def thermald_thread() -> NoReturn:
           setup_eon_fan()
           handle_fan = handle_fan_eon
 
-      # Handle disconnect
-      if pandaState_prev is not None:
-        if pandaState.pandaType == log.PandaState.PandaType.unknown and \
-          pandaState_prev.pandaType != log.PandaState.PandaType.unknown:
-          params.clear_all(ParamKeyType.CLEAR_ON_PANDA_DISCONNECT)
-      pandaState_prev = pandaState
-
     # these are expensive calls. update every 10s
     if (count % int(10. / DT_TRML)) == 0:
       try: