sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Add power usage stat (#24055)

Browse Source
pull/24065/head
Robbe Derks 3 years ago committed by GitHub
parent 8e34ddc70e
commit 68f86d815e
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 33 additions and 46 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 9
      selfdrive/hardware/eon/hardware.py
  2. 4
      selfdrive/thermald/power_monitoring.py
  3. 60
      selfdrive/thermald/tests/test_power_monitoring.py
  4. 6
      selfdrive/thermald/thermald.py

9
selfdrive/hardware/eon/hardware.py
Unescape View File

@ -373,8 +373,13 @@ class Android(HardwareBase):
return self.read_param_file("/sys/class/power_supply/usb/present", lambda x: bool(int(x)), False)
def get_current_power_draw(self):
# We don't have a good direct way to measure this on android
return None
if self.get_battery_status() == 'Discharging':
# If the battery is discharging, we can use this measurement
# On C2: this is low by about 10-15%, probably mostly due to UNO draw not being factored in
return ((self.get_battery_voltage() / 1000000) * (self.get_battery_current() / 1000000))
else:
# We don't have a good direct way to measure this if it's not "discharging"
return None
def shutdown(self):
os.system('LD_LIBRARY_PATH="" svc power shutdown')

4
selfdrive/thermald/power_monitoring.py
Unescape View File

@ -88,10 +88,6 @@ class PowerMonitoring:
current_power = HARDWARE.get_current_power_draw() # pylint: disable=assignment-from-none
if current_power is not None:
pass
elif HARDWARE.get_battery_status() == 'Discharging':
# If the battery is discharging, we can use this measurement
# On C2: this is low by about 10-15%, probably mostly due to UNO draw not being factored in
current_power = ((HARDWARE.get_battery_voltage() / 1000000) * (HARDWARE.get_battery_current() / 1000000))
elif (self.next_pulsed_measurement_time is not None) and (self.next_pulsed_measurement_time <= now):
# TODO: Figure out why this is off by a factor of 3/4???
FUDGE_FACTOR = 1.33

60
selfdrive/thermald/tests/test_power_monitoring.py
Unescape View File

@ -62,23 +62,19 @@ class TestPowerMonitoring(unittest.TestCase):
# Test to see that it integrates with discharging battery
@parameterized.expand(ALL_PANDA_TYPES)
def test_offroad_integration_discharging(self, hw_type):
BATT_VOLTAGE = 4
BATT_CURRENT = 1
with pm_patch("HARDWARE.get_battery_voltage", BATT_VOLTAGE * 1e6), pm_patch("HARDWARE.get_battery_current", BATT_CURRENT * 1e6), \
pm_patch("HARDWARE.get_battery_status", "Discharging"), pm_patch("HARDWARE.get_current_power_draw", None):
POWER_DRAW = 4
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
for _ in range(TEST_DURATION_S + 1):
pm.calculate(self.mock_peripheralState(hw_type), False)
expected_power_usage = ((TEST_DURATION_S/3600) * (BATT_VOLTAGE * BATT_CURRENT) * 1e6)
expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
self.assertLess(abs(pm.get_power_used() - expected_power_usage), 10)
# Test to check positive integration of car_battery_capacity
@parameterized.expand(ALL_PANDA_TYPES)
def test_car_battery_integration_onroad(self, hw_type):
BATT_VOLTAGE = 4
BATT_CURRENT = 1
with pm_patch("HARDWARE.get_battery_voltage", BATT_VOLTAGE * 1e6), pm_patch("HARDWARE.get_battery_current", BATT_CURRENT * 1e6), \
pm_patch("HARDWARE.get_battery_status", "Discharging"), pm_patch("HARDWARE.get_current_power_draw", None):
POWER_DRAW = 4
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = 0
for _ in range(TEST_DURATION_S + 1):
@ -89,10 +85,8 @@ class TestPowerMonitoring(unittest.TestCase):
# Test to check positive integration upper limit
@parameterized.expand(ALL_PANDA_TYPES)
def test_car_battery_integration_upper_limit(self, hw_type):
BATT_VOLTAGE = 4
BATT_CURRENT = 1
with pm_patch("HARDWARE.get_battery_voltage", BATT_VOLTAGE * 1e6), pm_patch("HARDWARE.get_battery_current", BATT_CURRENT * 1e6), \
pm_patch("HARDWARE.get_battery_status", "Discharging"), pm_patch("HARDWARE.get_current_power_draw", None):
POWER_DRAW = 4
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000
for _ in range(TEST_DURATION_S + 1):
@ -103,29 +97,25 @@ class TestPowerMonitoring(unittest.TestCase):
# Test to check negative integration of car_battery_capacity
@parameterized.expand(ALL_PANDA_TYPES)
def test_car_battery_integration_offroad(self, hw_type):
BATT_VOLTAGE = 4
BATT_CURRENT = 1
with pm_patch("HARDWARE.get_battery_voltage", BATT_VOLTAGE * 1e6), pm_patch("HARDWARE.get_battery_current", BATT_CURRENT * 1e6), \
pm_patch("HARDWARE.get_battery_status", "Discharging"), pm_patch("HARDWARE.get_current_power_draw", None):
POWER_DRAW = 4
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
for _ in range(TEST_DURATION_S + 1):
pm.calculate(self.mock_peripheralState(hw_type), False)
expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * (BATT_VOLTAGE * BATT_CURRENT) * 1e6)
expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10)
# Test to check negative integration lower limit
@parameterized.expand(ALL_PANDA_TYPES)
def test_car_battery_integration_lower_limit(self, hw_type):
BATT_VOLTAGE = 4
BATT_CURRENT = 1
with pm_patch("HARDWARE.get_battery_voltage", BATT_VOLTAGE * 1e6), pm_patch("HARDWARE.get_battery_current", BATT_CURRENT * 1e6), \
pm_patch("HARDWARE.get_battery_status", "Discharging"), pm_patch("HARDWARE.get_current_power_draw", None):
POWER_DRAW = 4
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = 1000
for _ in range(TEST_DURATION_S + 1):
pm.calculate(self.mock_peripheralState(hw_type), False)
estimated_capacity = 0 - ((1/3600) * (BATT_VOLTAGE * BATT_CURRENT) * 1e6)
estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6)
self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10)
# Test to check policy of stopping charging after MAX_TIME_OFFROAD_S
@ -151,11 +141,9 @@ class TestPowerMonitoring(unittest.TestCase):
# Test to check policy of stopping charging when the car voltage is too low
@parameterized.expand(ALL_PANDA_TYPES)
def test_car_voltage(self, hw_type):
BATT_VOLTAGE = 4
BATT_CURRENT = 0 # To stop shutting down for other reasons
POWER_DRAW = 0 # To stop shutting down for other reasons
TEST_TIME = 100
with pm_patch("HARDWARE.get_battery_voltage", BATT_VOLTAGE * 1e6), pm_patch("HARDWARE.get_battery_current", BATT_CURRENT * 1e6), \
pm_patch("HARDWARE.get_battery_status", "Discharging"), pm_patch("HARDWARE.get_current_power_draw", None):
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
ignition = False
@ -168,12 +156,10 @@ class TestPowerMonitoring(unittest.TestCase):
# Test to check policy of not stopping charging when DisablePowerDown is set
def test_disable_power_down(self):
BATT_VOLTAGE = 4
BATT_CURRENT = 0 # To stop shutting down for other reasons
POWER_DRAW = 0 # To stop shutting down for other reasons
TEST_TIME = 100
params.put_bool("DisablePowerDown", True)
with pm_patch("HARDWARE.get_battery_voltage", BATT_VOLTAGE * 1e6), pm_patch("HARDWARE.get_battery_current", BATT_CURRENT * 1e6), \
pm_patch("HARDWARE.get_battery_status", "Discharging"), pm_patch("HARDWARE.get_current_power_draw", None):
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
ignition = False
@ -186,11 +172,9 @@ class TestPowerMonitoring(unittest.TestCase):
# Test to check policy of not stopping charging when ignition
def test_ignition(self):
BATT_VOLTAGE = 4
BATT_CURRENT = 0 # To stop shutting down for other reasons
POWER_DRAW = 0 # To stop shutting down for other reasons
TEST_TIME = 100
with pm_patch("HARDWARE.get_battery_voltage", BATT_VOLTAGE * 1e6), pm_patch("HARDWARE.get_battery_current", BATT_CURRENT * 1e6), \
pm_patch("HARDWARE.get_battery_status", "Discharging"), pm_patch("HARDWARE.get_current_power_draw", None):
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
ignition = True
@ -203,11 +187,9 @@ class TestPowerMonitoring(unittest.TestCase):
# Test to check policy of not stopping charging when harness is not connected
def test_harness_connection(self):
BATT_VOLTAGE = 4
BATT_CURRENT = 0 # To stop shutting down for other reasons
POWER_DRAW = 0 # To stop shutting down for other reasons
TEST_TIME = 100
with pm_patch("HARDWARE.get_battery_voltage", BATT_VOLTAGE * 1e6), pm_patch("HARDWARE.get_battery_current", BATT_CURRENT * 1e6), \
pm_patch("HARDWARE.get_battery_status", "Discharging"), pm_patch("HARDWARE.get_current_power_draw", None):
with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh

6
selfdrive/thermald/thermald.py
Unescape View File

@ -337,7 +337,11 @@ def thermald_thread(end_event, hw_queue):
msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
current_power_draw = HARDWARE.get_current_power_draw() # pylint: disable=assignment-from-none
msg.deviceState.powerDrawW = current_power_draw if current_power_draw is not None else 0
if current_power_draw is not None:
statlog.sample("power_draw", current_power_draw)
msg.deviceState.powerDrawW = current_power_draw
else:
msg.deviceState.powerDrawW = 0
# Check if we need to disable charging (handled by boardd)
msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(onroad_conditions["ignition"], in_car, off_ts)

Write Preview
Loading…
Cancel
Save