Thermald cleanup (#2049)

* Thermald cleanup

* no Temps, fix ui formatter

* Fix scaling

* Don't touch that

* typo

* Fix fan control

* Fix if

* change cereal

* Update comment
old-commit-hash: 9eb3d89ca2

cereal

@@ -1 +1 @@
-Subproject commit b9a54adaf4c825bf2b44d9d60d8e6105eb78e9b1
+Subproject commit 3f13766df1f366955338b283990334e046baffe4

selfdrive/boardd/boardd.cc

@@ -392,8 +392,8 @@ void hardware_control_thread() {
   LOGD("start hardware control thread");
   SubMaster sm({"thermal", "frontFrame"});
 
-  // Only control fan speed on UNO
-  if (panda->hw_type != cereal::HealthData::HwType::UNO) return;
+  // Other pandas don't have hardware to control
+  if (panda->hw_type != cereal::HealthData::HwType::UNO && panda->hw_type != cereal::HealthData::HwType::DOS) return;
 
   uint64_t last_front_frame_t = 0;
   uint16_t prev_fan_speed = 999;

selfdrive/thermald/thermald.py

@@ -1,23 +1,32 @@
 #!/usr/bin/env python3
-import os
 import datetime
-import psutil
+import os
 import time
+from collections import namedtuple
+
+import psutil
 from smbus2 import SMBus
+
+import cereal.messaging as messaging
 from cereal import log
-from common.android import ANDROID, get_network_type, get_network_strength
-from common.params import Params, put_nonblocking
-from common.realtime import sec_since_boot, DT_TRML
-from common.numpy_fast import clip, interp
+from common.android import get_network_strength, get_network_type
 from common.filter_simple import FirstOrderFilter
-from selfdrive.version import terms_version, training_version, get_git_branch
-from selfdrive.swaglog import cloudlog
-import cereal.messaging as messaging
+from common.numpy_fast import clip, interp
+from common.params import Params, put_nonblocking
+from common.realtime import DT_TRML, sec_since_boot
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from selfdrive.loggerd.config import get_available_percent
 from selfdrive.pandad import get_expected_signature
-from selfdrive.thermald.power_monitoring import PowerMonitoring, get_battery_capacity, get_battery_status, \
-                                                get_battery_current, get_battery_voltage, get_usb_present
+from selfdrive.swaglog import cloudlog
+from selfdrive.thermald.power_monitoring import (PowerMonitoring,
+                                                 get_battery_capacity,
+                                                 get_battery_current,
+                                                 get_battery_status,
+                                                 get_battery_voltage,
+                                                 get_usb_present)
+from selfdrive.version import get_git_branch, terms_version, training_version
+
+ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambient'])
 
 FW_SIGNATURE = get_expected_signature()
 
@@ -30,35 +39,41 @@ DAYS_NO_CONNECTIVITY_MAX = 7  # do not allow to engage after a week without inte
 DAYS_NO_CONNECTIVITY_PROMPT = 4  # send an offroad prompt after 4 days with no internet
 DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect so you get an alert
 
+EON = os.path.isfile('/EON')
+TICI = os.path.isfile('/TICI')
+
 LEON = False
 last_eon_fan_val = None
 
 
-def read_tz(x, clip=True):
-  if not ANDROID:
-    # we don't monitor thermal on PC
+def get_thermal_config():
+  # (tz, scale)
+  if EON:
+    return ThermalConfig(cpu=((5, 7, 10, 12), 10), gpu=((16,), 10), mem=(2, 10), bat=(29, 1000), ambient=(25, 1))
+  elif TICI:
+    return ThermalConfig(cpu=((1, 2, 3, 4, 5, 6, 7, 8), 1000), gpu=((48,49), 1000), mem=(15, 1000), bat=(None, 1), ambient=(70, 1000))
+  else:
+    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), ambient=(None, 1))
+
+
+def read_tz(x):
+  if x is None:
     return 0
+
   try:
     with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f:
-      ret = int(f.read())
-      if clip:
-        ret = max(0, ret)
+      return int(f.read())
   except FileNotFoundError:
     return 0
 
-  return ret
 
-
-def read_thermal():
+def read_thermal(thermal_config):
   dat = messaging.new_message('thermal')
-  dat.thermal.cpu0 = read_tz(5)
-  dat.thermal.cpu1 = read_tz(7)
-  dat.thermal.cpu2 = read_tz(10)
-  dat.thermal.cpu3 = read_tz(12)
-  dat.thermal.mem = read_tz(2)
-  dat.thermal.gpu = read_tz(16)
-  dat.thermal.bat = read_tz(29)
-  dat.thermal.pa0 = read_tz(25)
+  dat.thermal.cpu = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]]
+  dat.thermal.gpu = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
+  dat.thermal.mem = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
+  dat.thermal.ambient = read_tz(thermal_config.ambient[0]) / thermal_config.ambient[1]
+  dat.thermal.bat = read_tz(thermal_config.bat[0]) / thermal_config.bat[1]
   return dat
 
 
@@ -183,11 +198,13 @@ def thermald_thread():
   pm = PowerMonitoring()
   no_panda_cnt = 0
 
+  thermal_config = get_thermal_config()
+
   while 1:
     health = messaging.recv_sock(health_sock, wait=True)
     location = messaging.recv_sock(location_sock)
     location = location.gpsLocation if location else None
-    msg = read_thermal()
+    msg = read_thermal(thermal_config)
 
     if health is not None:
       usb_power = health.health.usbPowerMode != log.HealthData.UsbPowerMode.client
@@ -208,7 +225,7 @@ def thermald_thread():
         is_uno = health.health.hwType == log.HealthData.HwType.uno
         has_relay = health.health.hwType in [log.HealthData.HwType.blackPanda, log.HealthData.HwType.uno, log.HealthData.HwType.dos]
 
-        if is_uno or not ANDROID:
+        if (not EON) or is_uno:
           cloudlog.info("Setting up UNO fan handler")
           handle_fan = handle_fan_uno
         else:
@@ -243,7 +260,7 @@ def thermald_thread():
     msg.thermal.usbOnline = get_usb_present()
 
     # Fake battery levels on uno for frame
-    if is_uno:
+    if (not EON) or is_uno:
       msg.thermal.batteryPercent = 100
       msg.thermal.batteryStatus = "Charging"
       msg.thermal.bat = 0
@@ -251,14 +268,9 @@ def thermald_thread():
     current_filter.update(msg.thermal.batteryCurrent / 1e6)
 
     # TODO: add car battery voltage check
-    max_cpu_temp = cpu_temp_filter.update(
-      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.
+    max_cpu_temp = cpu_temp_filter.update(max(msg.thermal.cpu))
+    max_comp_temp = max(max_cpu_temp, msg.thermal.mem, max(msg.thermal.gpu))
+    bat_temp = msg.thermal.bat
 
     if handle_fan is not None:
       fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed, ignition)

selfdrive/ui/sidebar.cc

@@ -124,7 +124,7 @@ static void ui_draw_sidebar_temp_metric(UIState *s) {
   char temp_value_str[32];
   char temp_value_unit[32];
   const int temp_y_offset = 0;
-  snprintf(temp_value_str, sizeof(temp_value_str), "%d", s->scene.thermal.getPa0());
+  snprintf(temp_value_str, sizeof(temp_value_str), "%.0f", s->scene.thermal.getAmbient());
   snprintf(temp_value_unit, sizeof(temp_value_unit), "%s", "°C");
   snprintf(temp_label_str, sizeof(temp_label_str), "%s", "TEMP");
   strcat(temp_value_str, temp_value_unit);