Modem temp is an expensive call (#22309)

selfdrive/thermald/thermald.py

@@ -69,7 +69,6 @@ def read_thermal(thermal_config):
   dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
   dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
   dat.deviceState.ambientTempC = read_tz(thermal_config.ambient[0]) / thermal_config.ambient[1]
-  dat.deviceState.modemTempC = HARDWARE.get_modem_temperatures()
   return dat
 
 
@@ -179,6 +178,7 @@ def thermald_thread():
   modem_version = None
   registered_count = 0
   nvme_temps = None
+  modem_temps = None
 
   current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
   temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
@@ -253,6 +253,7 @@ def thermald_thread():
         network_strength = HARDWARE.get_network_strength(network_type)
         network_info = HARDWARE.get_network_info()  # pylint: disable=assignment-from-none
         nvme_temps = HARDWARE.get_nvme_temps()
+        modem_temps = HARDWARE.get_modem_temperatures()
 
         # Log modem version once
         if modem_version is None:
@@ -283,6 +284,8 @@ def thermald_thread():
       msg.deviceState.networkInfo = network_info
     if nvme_temps is not None:
       msg.deviceState.nvmeTempC = nvme_temps
+    if modem_temps is not None:
+      msg.deviceState.modemTempC = modem_temps
 
     msg.deviceState.batteryPercent = HARDWARE.get_battery_capacity()
     msg.deviceState.batteryCurrent = HARDWARE.get_battery_current()