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139 lines
4.4 KiB
139 lines
4.4 KiB
#!/usr/bin/env python3
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import os
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import time
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import ctypes
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import select
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import threading
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import cereal.messaging as messaging
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from cereal.services import SERVICE_LIST
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from openpilot.common.util import sudo_write
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from openpilot.common.realtime import config_realtime_process, Ratekeeper
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from openpilot.common.swaglog import cloudlog
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from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data
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from openpilot.system.sensord.sensors.i2c_sensor import Sensor
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from openpilot.system.sensord.sensors.lsm6ds3_accel import LSM6DS3_Accel
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from openpilot.system.sensord.sensors.lsm6ds3_gyro import LSM6DS3_Gyro
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from openpilot.system.sensord.sensors.lsm6ds3_temp import LSM6DS3_Temp
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from openpilot.system.sensord.sensors.mmc5603nj_magn import MMC5603NJ_Magn
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I2C_BUS_IMU = 1
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def interrupt_loop(sensors: list[tuple[Sensor, str, bool]], event) -> None:
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pm = messaging.PubMaster([service for sensor, service, interrupt in sensors if interrupt])
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# Requesting both edges as the data ready pulse from the lsm6ds sensor is
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# very short (75us) and is mostly detected as falling edge instead of rising.
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# So if it is detected as rising the following falling edge is skipped.
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fd = gpiochip_get_ro_value_fd("sensord", 0, 84)
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# Configure IRQ affinity
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irq_path = "/proc/irq/336/smp_affinity_list"
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if not os.path.exists(irq_path):
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irq_path = "/proc/irq/335/smp_affinity_list"
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if os.path.exists(irq_path):
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sudo_write('1\n', irq_path)
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offset = time.time_ns() - time.monotonic_ns()
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poller = select.poll()
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poller.register(fd, select.POLLIN | select.POLLPRI)
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while not event.is_set():
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events = poller.poll(100)
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if not events:
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cloudlog.error("poll timed out")
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continue
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if not (events[0][1] & (select.POLLIN | select.POLLPRI)):
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cloudlog.error("no poll events set")
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continue
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dat = os.read(fd, ctypes.sizeof(gpioevent_data)*16)
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evd = gpioevent_data.from_buffer_copy(dat)
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cur_offset = time.time_ns() - time.monotonic_ns()
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if abs(cur_offset - offset) > 10 * 1e6: # ms
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cloudlog.warning(f"time jumped: {cur_offset} {offset}")
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offset = cur_offset
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continue
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ts = evd.timestamp - cur_offset
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for sensor, service, interrupt in sensors:
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if interrupt:
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try:
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evt = sensor.get_event(ts)
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if not sensor.is_data_valid():
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continue
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msg = messaging.new_message(service, valid=True)
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setattr(msg, service, evt)
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pm.send(service, msg)
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except Sensor.DataNotReady:
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pass
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except Exception:
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cloudlog.exception(f"Error processing {service}")
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def polling_loop(sensor: Sensor, service: str, event: threading.Event) -> None:
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pm = messaging.PubMaster([service])
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rk = Ratekeeper(SERVICE_LIST[service].frequency, print_delay_threshold=None)
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while not event.is_set():
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try:
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evt = sensor.get_event()
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if not sensor.is_data_valid():
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continue
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msg = messaging.new_message(service, valid=True)
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setattr(msg, service, evt)
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pm.send(service, msg)
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except Exception:
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cloudlog.exception(f"Error in {service} polling loop")
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rk.keep_time()
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def main() -> None:
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config_realtime_process([1, ], 1)
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sensors_cfg = [
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(LSM6DS3_Accel(I2C_BUS_IMU), "accelerometer", True),
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(LSM6DS3_Gyro(I2C_BUS_IMU), "gyroscope", True),
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(LSM6DS3_Temp(I2C_BUS_IMU), "temperatureSensor", False),
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(MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False),
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]
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# Initialize sensors
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exit_event = threading.Event()
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threads = [
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threading.Thread(target=interrupt_loop, args=(sensors_cfg, exit_event), daemon=True)
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]
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for sensor, service, interrupt in sensors_cfg:
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try:
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sensor.init()
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if not interrupt:
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# Start polling thread for sensors without interrupts
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threads.append(threading.Thread(
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target=polling_loop,
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args=(sensor, service, exit_event),
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daemon=True
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))
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except Exception:
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cloudlog.exception(f"Error initializing {service} sensor")
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try:
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for t in threads:
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t.start()
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while any(t.is_alive() for t in threads):
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time.sleep(1)
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except KeyboardInterrupt:
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pass
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finally:
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exit_event.set()
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for t in threads:
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if t.is_alive():
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t.join()
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for sensor, _, _ in sensors_cfg:
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try:
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sensor.shutdown()
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except Exception:
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cloudlog.exception("Error shutting down sensor")
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if __name__ == "__main__":
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main()
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