Small thermald cleanup

old-commit-hash: 65ad31a7e4

selfdrive/thermald/power_monitoring.py

@@ -1,38 +1,48 @@
-import time
 import datetime
-import threading
 import random
+import threading
+import time
 from statistics import mean
+
 from cereal import log
+from selfdrive.swaglog import cloudlog
 
 PANDA_OUTPUT_VOLTAGE = 5.28
 
+
 # Parameters
 def get_battery_capacity():
   return _read_param("/sys/class/power_supply/battery/capacity", int)
 
+
 def get_battery_status():
-  # This does not correspond with actual charging or not. 
+  # This does not correspond with actual charging or not.
   # If a USB cable is plugged in, it responds with 'Charging', even when charging is disabled
   return _read_param("/sys/class/power_supply/battery/status", lambda x: x.strip(), '')
 
+
 def get_battery_current():
   return _read_param("/sys/class/power_supply/battery/current_now", int)
 
+
 def get_battery_voltage():
   return _read_param("/sys/class/power_supply/battery/voltage_now", int)
 
+
 def get_usb_present():
   return _read_param("/sys/class/power_supply/usb/present", lambda x: bool(int(x)), False)
 
+
 def get_battery_charging():
   # This does correspond with actually charging
   return _read_param("/sys/class/power_supply/battery/charge_type", lambda x: x.strip() != "N/A", False)
 
+
 def set_battery_charging(on):
   with open('/sys/class/power_supply/battery/charging_enabled', 'w') as f:
     f.write(f"{1 if on else 0}\n")
 
+
 # Helpers
 def _read_param(path, parser, default=0):
   try:
@@ -41,10 +51,12 @@ def _read_param(path, parser, default=0):
   except Exception:
     return default
 
+
 def panda_current_to_actual_current(panda_current):
   # From white/grey panda schematic
   return (3.3 - (panda_current * 3.3 / 4096)) / 8.25
 
+
 class PowerMonitoring:
   def __init__(self):
     self.last_measurement_time = None           # Used for integration delta
@@ -63,13 +75,13 @@ class PowerMonitoring:
 
       # Only integrate when there is no ignition
       # If health is None, we're probably not in a car, so we don't care
-      if health == None or (health.health.ignitionLine or health.health.ignitionCan):
+      if health is None or (health.health.ignitionLine or health.health.ignitionCan):
         self.last_measurement_time = None
         self.power_used_uWh = 0
         return
 
       # First measurement, set integration time
-      if self.last_measurement_time == None:
+      if self.last_measurement_time is None:
         self.last_measurement_time = now
         return
 
@@ -78,13 +90,13 @@ class PowerMonitoring:
       if 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 = ((get_battery_voltage() / 1000000)  * (get_battery_current() / 1000000))
+        current_power = ((get_battery_voltage() / 1000000) * (get_battery_current() / 1000000))
       elif (health.health.hwType in [log.HealthData.HwType.whitePanda, log.HealthData.HwType.greyPanda]) and (health.health.current > 1):
         # If white/grey panda, use the integrated current measurements if the measurement is not 0
         # If the measurement is 0, the current is 400mA or greater, and out of the measurement range of the panda
         # This seems to be accurate to about 5%
         current_power = (PANDA_OUTPUT_VOLTAGE * panda_current_to_actual_current(health.health.current))
-      elif (self.next_pulsed_measurement_time != None) and (self.next_pulsed_measurement_time <= now):
+      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
 
@@ -93,7 +105,7 @@ class PowerMonitoring:
           try:
             set_battery_charging(False)
             time.sleep(5)
-            
+
             # Measure for a few sec to get a good average
             voltages = []
             currents = []
@@ -101,20 +113,20 @@ class PowerMonitoring:
               voltages.append(get_battery_voltage())
               currents.append(get_battery_current())
               time.sleep(1)
-            current_power = ((mean(voltages) / 1000000)  * (mean(currents) / 1000000))
+            current_power = ((mean(voltages) / 1000000) * (mean(currents) / 1000000))
             self._perform_integration(now, current_power * FUDGE_FACTOR)
 
             # Enable charging again
             set_battery_charging(True)
-          except Exception as e:
+          except Exception:
-            print("Pulsed power measurement failed:", str(e))
+            cloudlog.exception("Pulsed power measurement failed")
-        
+
         # Start pulsed measurement and return
         threading.Thread(target=perform_pulse_measurement, args=(now,)).start()
         self.next_pulsed_measurement_time = None
         return
-        
+
-      elif self.next_pulsed_measurement_time == None:
+      elif self.next_pulsed_measurement_time is None:
         # On a charging EON with black panda, or drawing more than 400mA out of a white/grey one
         # Only way to get the power draw is to turn off charging for a few sec and check what the discharging rate is
         # We shouldn't do this very often, so make sure it has been some long-ish random time interval
@@ -126,8 +138,8 @@ class PowerMonitoring:
 
       # Do the integration
       self._perform_integration(now, current_power)
-    except Exception as e:
+    except Exception:
-      print("Power monitoring calculation failed:", str(e))
+      cloudlog.exception("Power monitoring calculation failed:")
 
   def _perform_integration(self, t, current_power):
     self.integration_lock.acquire()
@@ -139,7 +151,3 @@ class PowerMonitoring:
   # Get the power usage
   def get_power_used(self):
     return int(self.power_used_uWh)
-
-
-
-

selfdrive/thermald/thermald.py

@@ -28,10 +28,14 @@ CURRENT_TAU = 15.   # 15s time constant
 DAYS_NO_CONNECTIVITY_MAX = 7  # do not allow to engage after a week without internet
 DAYS_NO_CONNECTIVITY_PROMPT = 4  # send an offroad prompt after 4 days with no internet
 
+LEON = False
+last_eon_fan_val = None
+
 
 with open(BASEDIR + "/selfdrive/controls/lib/alerts_offroad.json") as json_file:
   OFFROAD_ALERTS = json.load(json_file)
 
+
 def read_tz(x, clip=True):
   if not ANDROID:
     # we don't monitor thermal on PC
@@ -46,6 +50,7 @@ def read_tz(x, clip=True):
 
   return ret
 
+
 def read_thermal():
   dat = messaging.new_message('thermal')
   dat.thermal.cpu0 = read_tz(5)
@@ -58,7 +63,7 @@ def read_thermal():
   dat.thermal.pa0 = read_tz(25)
   return dat
 
-LEON = False
+
 def setup_eon_fan():
   global LEON
 
@@ -72,11 +77,10 @@ def setup_eon_fan():
     bus.write_byte_data(0x21, 0x04, 0x4)   # manual override source
   except IOError:
     print("LEON detected")
-    #os.system("echo 1 > /sys/devices/soc/6a00000.ssusb/power_supply/usb/usb_otg")
     LEON = True
   bus.close()
 
-last_eon_fan_val = None
+
 def set_eon_fan(val):
   global LEON, last_eon_fan_val
 
@@ -102,6 +106,7 @@ def set_eon_fan(val):
     bus.close()
     last_eon_fan_val = val
 
+
 # temp thresholds to control fan speed - high hysteresis
 _TEMP_THRS_H = [50., 65., 80., 10000]
 # temp thresholds to control fan speed - low hysteresis
@@ -127,7 +132,7 @@ def handle_fan_eon(max_cpu_temp, bat_temp, fan_speed, ignition):
     # no max fan speed unless battery is hot
     fan_speed = min(fan_speed, _FAN_SPEEDS[-2])
 
-  set_eon_fan(fan_speed//16384)
+  set_eon_fan(fan_speed // 16384)
 
   return fan_speed
 
@@ -140,6 +145,7 @@ def handle_fan_uno(max_cpu_temp, bat_temp, fan_speed, ignition):
 
   return new_speed
 
+
 def thermald_thread():
   # prevent LEECO from undervoltage
   BATT_PERC_OFF = 10 if LEON else 3
@@ -227,7 +233,7 @@ def thermald_thread():
     max_cpu_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
                        msg.thermal.cpu2, msg.thermal.cpu3) / 10.0
     max_comp_temp = max(max_cpu_temp, msg.thermal.mem / 10., msg.thermal.gpu / 10.)
-    bat_temp = msg.thermal.bat/1000.
+    bat_temp = msg.thermal.bat / 1000.
 
     fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed, ignition)
     msg.thermal.fanSpeed = fan_speed
@@ -236,7 +242,7 @@ def thermald_thread():
     if max_cpu_temp > 107. or bat_temp >= 63.:
       # onroad not allowed
       thermal_status = ThermalStatus.danger
-    elif max_comp_temp > 92.5 or bat_temp > 60.: # CPU throttling starts around ~90C
+    elif max_comp_temp > 92.5 or bat_temp > 60.:  # CPU throttling starts around ~90C
       # hysteresis between onroad not allowed and engage not allowed
       thermal_status = clip(thermal_status, ThermalStatus.red, ThermalStatus.danger)
     elif max_cpu_temp > 87.5:
@@ -382,15 +388,13 @@ def thermald_thread():
     fw_version_match_prev = fw_version_match
     should_start_prev = should_start
 
-    #print(msg)
-
     # report to server once per minute
     if (count % int(60. / DT_TRML)) == 0:
       cloudlog.event("STATUS_PACKET",
-        count=count,
+                     count=count,
-        health=(health.to_dict() if health else None),
+                     health=(health.to_dict() if health else None),
-        location=(location.to_dict() if location else None),
+                     location=(location.to_dict() if location else None),
-        thermal=msg.to_dict())
+                     thermal=msg.to_dict())
 
     count += 1
 
@@ -398,5 +402,6 @@ def thermald_thread():
 def main():
   thermald_thread()
 
+
 if __name__ == "__main__":
   main()