remove tools/zookeeper/

tools/zookeeper/__init__.py

@@ -1,78 +0,0 @@
-import ft4222
-import ft4222.I2CMaster
-
-DEBUG = False
-
-INA231_ADDR = 0x40
-INA231_REG_CONFIG = 0x00
-INA231_REG_SHUNT_VOLTAGE = 0x01
-INA231_REG_BUS_VOLTAGE = 0x02
-INA231_REG_POWER = 0x03
-INA231_REG_CURRENT = 0x04
-INA231_REG_CALIBRATION = 0x05
-
-INA231_BUS_LSB = 1.25e-3
-INA231_SHUNT_LSB = 2.5e-6
-SHUNT_RESISTOR = 30e-3
-CURRENT_LSB = 1e-5
-
-class Zookeeper:
-  def __init__(self):
-    if ft4222.createDeviceInfoList() < 2:
-      raise Exception("No connected zookeeper found!")
-    self.dev_a = ft4222.openByDescription("FT4222 A")
-    self.dev_b = ft4222.openByDescription("FT4222 B")
-
-    if DEBUG:
-      for i in range(ft4222.createDeviceInfoList()):
-        print(f"Device {i}: {ft4222.getDeviceInfoDetail(i, False)}")
-
-    # Setup GPIO
-    self.dev_b.gpio_Init(gpio2=ft4222.Dir.OUTPUT, gpio3=ft4222.Dir.OUTPUT)
-    self.dev_b.setSuspendOut(False)
-    self.dev_b.setWakeUpInterrut(False)
-
-    # Setup I2C
-    self.dev_a.i2cMaster_Init(kbps=400)
-    self._initialize_ina()
-
-  # Helper functions
-  def _read_ina_register(self, register, length):
-    self.dev_a.i2cMaster_WriteEx(INA231_ADDR, data=register, flag=ft4222.I2CMaster.Flag.REPEATED_START)
-    return self.dev_a.i2cMaster_Read(INA231_ADDR, bytesToRead=length)
-
-  def _write_ina_register(self, register, data):
-    msg = register.to_bytes(1, byteorder="big") + data.to_bytes(2, byteorder="big")
-    self.dev_a.i2cMaster_Write(INA231_ADDR, data=msg)
-
-  def _initialize_ina(self):
-    # Config
-    self._write_ina_register(INA231_REG_CONFIG, 0x4127)
-
-    # Calibration
-    CAL_VALUE = int(0.00512 / (CURRENT_LSB * SHUNT_RESISTOR))
-    if DEBUG:
-      print(f"Calibration value: {hex(CAL_VALUE)}")
-    self._write_ina_register(INA231_REG_CALIBRATION, CAL_VALUE)
-
-  def _set_gpio(self, number, enabled):
-    self.dev_b.gpio_Write(portNum=number, value=enabled)
-
-  # Public API functions
-  def set_device_power(self, enabled):
-    self._set_gpio(2, enabled)
-
-  def set_device_ignition(self, enabled):
-    self._set_gpio(3, enabled)
-
-  def read_current(self):
-    # Returns in A
-    return int.from_bytes(self._read_ina_register(INA231_REG_CURRENT, 2), byteorder="big") * CURRENT_LSB
-
-  def read_power(self):
-    # Returns in W
-    return int.from_bytes(self._read_ina_register(INA231_REG_POWER, 2), byteorder="big") * CURRENT_LSB * 25
-
-  def read_voltage(self):
-    # Returns in V
-    return int.from_bytes(self._read_ina_register(INA231_REG_BUS_VOLTAGE, 2), byteorder="big") * INA231_BUS_LSB

tools/zookeeper/check_consumption.py

@@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-import time
-from openpilot.tools.zookeeper import Zookeeper
-
-# Usage: check_consumption.py <averaging_time_sec> <max_average_power_W>
-# Exit code: 0 -> passed
-#	           1 -> failed
-
-if __name__ == "__main__":
-  z = Zookeeper()
-
-  averaging_time_s = int(sys.argv[1])
-  max_average_power = float(sys.argv[2])
-
-  start_time = time.time()
-  measurements = []
-  while time.time() - start_time < averaging_time_s:
-    measurements.append(z.read_power())
-    time.sleep(0.1)
-
-  average_power = sum(measurements)/len(measurements)
-  print(f"Average power: {round(average_power, 4)}W")
-
-  if average_power > max_average_power:
-    exit(1)

tools/zookeeper/disable.py

@@ -1,8 +0,0 @@
-#!/usr/bin/env python3
-
-from openpilot.tools.zookeeper import Zookeeper
-
-if __name__ == "__main__":
-  z = Zookeeper()
-  z.set_device_power(False)
-

tools/zookeeper/enable_and_wait.py

@@ -1,31 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import time
-from socket import gethostbyname, gaierror
-from openpilot.tools.zookeeper import Zookeeper
-
-def is_online(ip):
-  try:
-    addr = gethostbyname(ip)
-    return (os.system(f"ping -c 1 {addr} > /dev/null") == 0)
-  except gaierror:
-    return False
-
-if __name__ == "__main__":
-  z = Zookeeper()
-  z.set_device_power(True)
-
-
-  ip = str(sys.argv[1])
-  timeout = int(sys.argv[2])
-  start_time = time.time()
-  while not is_online(ip):
-    print(f"{ip} not online yet!")
-
-    if time.time() - start_time > timeout:
-      print("Timed out!")
-      raise TimeoutError()
-
-    time.sleep(1)
-

tools/zookeeper/ignition.py

@@ -1,10 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-from openpilot.tools.zookeeper import Zookeeper
-
-
-if __name__ == "__main__":
-  z = Zookeeper()
-  z.set_device_ignition(1 if int(sys.argv[1]) > 0 else 0)
-

tools/zookeeper/power_monitor.py

@@ -1,40 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import time
-import datetime
-
-from openpilot.common.realtime import Ratekeeper
-from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.tools.zookeeper import Zookeeper
-
-if __name__ == "__main__":
-  z = Zookeeper()
-  z.set_device_power(True)
-  z.set_device_ignition(False)
-
-  duration = None
-  if len(sys.argv) > 1:
-    duration = int(sys.argv[1])
-
-  rate = 123
-  rk = Ratekeeper(rate, print_delay_threshold=None)
-  fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False)
-
-  measurements = []
-  start_time = time.monotonic()
-
-  try:
-    while duration is None or time.monotonic() - start_time < duration:
-      fltr.update(z.read_power())
-      if rk.frame % rate == 0:
-        measurements.append(fltr.x)
-        t = datetime.timedelta(seconds=time.monotonic() - start_time)
-        avg = sum(measurements) / len(measurements)
-        print(f"Now: {fltr.x:.2f} W, Avg: {avg:.2f} W over {t}")
-      rk.keep_time()
-  except KeyboardInterrupt:
-    pass
-
-  t = datetime.timedelta(seconds=time.monotonic() - start_time)
-  avg = sum(measurements) / len(measurements)
-  print(f"\nAverage power: {avg:.2f}W over {t}")

tools/zookeeper/test_zookeeper.py

@@ -1,25 +0,0 @@
-#!/usr/bin/env python3
-
-import time
-from openpilot.tools.zookeeper import Zookeeper
-
-
-if __name__ == "__main__":
-  z = Zookeeper()
-  z.set_device_power(True)
-
-  i = 0
-  ign = False
-  while 1:
-    voltage = round(z.read_voltage(), 2)
-    current = round(z.read_current(), 3)
-    power = round(z.read_power(), 2)
-    z.set_device_ignition(ign)
-    print(f"Voltage: {voltage}V, Current: {current}A, Power: {power}W, Ignition: {ign}")
-
-    if i > 200:
-      ign = not ign
-      i = 0
-
-    i += 1
-    time.sleep(0.1)