From e905a35467d4ef8c1e1bb961b3b484594258f063 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 8 Jan 2024 15:09:38 -0800
Subject: [PATCH] tici: check that peripherals are fully booted (#30942)

* tici: check that peripherals are fully booted

* default

* typo

* fix

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 5f191321fddca4eafb55c992415209a9389e2617
---
 selfdrive/thermald/thermald.py   |  3 +++
 system/hardware/base.py          |  3 +++
 system/hardware/tici/hardware.py | 11 +++++++++++
 3 files changed, 17 insertions(+)

diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 8b51aedbdb..7011ff0a99 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -312,6 +312,9 @@ def thermald_thread(end_event, hw_queue) -> None:
     # must be at an engageable thermal band to go onroad
     startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red
 
+    # ensure device is fully booted
+    startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted()
+
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
     extra_text = f"{offroad_comp_temp:.1f}C"
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 0b6ca44c3c..b432a41907 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -23,6 +23,9 @@ class HardwareBase(ABC):
     except Exception:
       return default
 
+  def booted(self) -> bool:
+    return True
+
   @abstractmethod
   def reboot(self, reason=None):
     pass
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index f895bbc508..d1ac52c8dc 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -74,6 +74,11 @@ def sudo_write(val, path):
       # fallback for debugfs files
       os.system(f"sudo su -c 'echo {val} > {path}'")
 
+def sudo_read(path: str) -> str:
+  try:
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8')
+  except Exception:
+    return ""
 
 def affine_irq(val, action):
   irqs = get_irqs_for_action(action)
@@ -554,6 +559,12 @@ class Tici(HardwareBase):
     time.sleep(0.5)
     gpio_set(GPIO.STM_BOOT0, 0)
 
+  def booted(self):
+    # this normally boots within 8s, but on rare occasions takes 30+s
+    encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info")
+    if "Core state: 0" in encoder_state and (time.monotonic() < 60*2):
+      return False
+    return True
 
 if __name__ == "__main__":
   t = Tici()