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466 lines
19 KiB
466 lines
19 KiB
#!/usr/bin/env python3
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import datetime
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import os
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import time
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from pathlib import Path
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from typing import Dict, Optional, Tuple
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from collections import namedtuple, OrderedDict
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import psutil
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from smbus2 import SMBus
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import cereal.messaging as messaging
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from cereal import log
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from common.filter_simple import FirstOrderFilter
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from common.numpy_fast import interp
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from common.params import Params, ParamKeyType
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from common.realtime import DT_TRML, sec_since_boot
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from common.dict_helpers import strip_deprecated_keys
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from selfdrive.controls.lib.alertmanager import set_offroad_alert
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from selfdrive.controls.lib.pid import PIController
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from selfdrive.hardware import EON, TICI, PC, HARDWARE
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from selfdrive.loggerd.config import get_available_percent
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from selfdrive.pandad import get_expected_signature
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from selfdrive.swaglog import cloudlog
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from selfdrive.thermald.power_monitoring import PowerMonitoring
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from selfdrive.version import tested_branch, terms_version, training_version
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FW_SIGNATURE = get_expected_signature()
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ThermalStatus = log.DeviceState.ThermalStatus
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NetworkType = log.DeviceState.NetworkType
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NetworkStrength = log.DeviceState.NetworkStrength
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CURRENT_TAU = 15. # 15s time constant
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TEMP_TAU = 5. # 5s time constant
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DAYS_NO_CONNECTIVITY_MAX = 7 # do not allow to engage after a week without internet
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DAYS_NO_CONNECTIVITY_PROMPT = 4 # send an offroad prompt after 4 days with no internet
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DISCONNECT_TIMEOUT = 5. # wait 5 seconds before going offroad after disconnect so you get an alert
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ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
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# List of thermal bands. We will stay within this region as long as we are within the bounds.
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# When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
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THERMAL_BANDS = OrderedDict({
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ThermalStatus.green: ThermalBand(None, 80.0),
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ThermalStatus.yellow: ThermalBand(75.0, 96.0),
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ThermalStatus.red: ThermalBand(80.0, 107.),
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ThermalStatus.danger: ThermalBand(94.0, None),
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})
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# Override to highest thermal band when offroad and above this temp
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OFFROAD_DANGER_TEMP = 70.0
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prev_offroad_states: Dict[str, Tuple[bool, Optional[str]]] = {}
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def read_tz(x):
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if x is None:
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return 0
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try:
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with open(f"/sys/devices/virtual/thermal/thermal_zone{x}/temp") as f:
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return int(f.read())
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except FileNotFoundError:
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return 0
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def read_thermal(thermal_config):
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dat = messaging.new_message('deviceState')
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dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]]
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dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
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dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
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dat.deviceState.ambientTempC = read_tz(thermal_config.ambient[0]) / thermal_config.ambient[1]
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return dat
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def setup_eon_fan():
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os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch")
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last_eon_fan_val = None
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def set_eon_fan(val):
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global last_eon_fan_val
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if last_eon_fan_val is None or last_eon_fan_val != val:
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bus = SMBus(7, force=True)
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try:
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i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
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bus.write_i2c_block_data(0x3d, 0, [i])
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except IOError:
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# tusb320
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if val == 0:
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bus.write_i2c_block_data(0x67, 0xa, [0])
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else:
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bus.write_i2c_block_data(0x67, 0xa, [0x20])
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bus.write_i2c_block_data(0x67, 0x8, [(val - 1) << 6])
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bus.close()
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last_eon_fan_val = val
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# temp thresholds to control fan speed - high hysteresis
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_TEMP_THRS_H = [50., 65., 80., 10000]
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# temp thresholds to control fan speed - low hysteresis
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_TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
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# fan speed options
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_FAN_SPEEDS = [0, 16384, 32768, 65535]
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def handle_fan_eon(controller, max_cpu_temp, fan_speed, ignition):
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new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_cpu_temp)
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new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_cpu_temp)
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if new_speed_h > fan_speed:
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# update speed if using the high thresholds results in fan speed increment
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fan_speed = new_speed_h
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elif new_speed_l < fan_speed:
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# update speed if using the low thresholds results in fan speed decrement
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fan_speed = new_speed_l
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set_eon_fan(fan_speed // 16384)
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return fan_speed
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def handle_fan_uno(controller, max_cpu_temp, fan_speed, ignition):
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new_speed = int(interp(max_cpu_temp, [40.0, 80.0], [0, 80]))
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if not ignition:
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new_speed = min(30, new_speed)
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return new_speed
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def handle_fan_tici(controller, max_cpu_temp, fan_speed, ignition):
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controller.neg_limit = -(80 if ignition else 30)
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controller.pos_limit = -(30 if ignition else 0)
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fan_pwr_out = -int(controller.update(
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setpoint=(75 if ignition else (OFFROAD_DANGER_TEMP - 2)),
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measurement=max_cpu_temp,
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feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80])
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))
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return fan_pwr_out
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def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: Optional[str]=None):
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if prev_offroad_states.get(offroad_alert, None) == (show_alert, extra_text):
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return
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prev_offroad_states[offroad_alert] = (show_alert, extra_text)
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set_offroad_alert(offroad_alert, show_alert, extra_text)
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def thermald_thread():
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pm = messaging.PubMaster(['deviceState'])
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pandaState_timeout = int(1000 * 2.5 * DT_TRML) # 2.5x the expected pandaState frequency
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pandaState_sock = messaging.sub_sock('pandaState', timeout=pandaState_timeout)
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location_sock = messaging.sub_sock('gpsLocationExternal')
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managerState_sock = messaging.sub_sock('managerState', conflate=True)
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fan_speed = 0
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count = 0
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startup_conditions = {
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"ignition": False,
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}
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startup_conditions_prev = startup_conditions.copy()
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off_ts = None
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started_ts = None
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started_seen = False
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thermal_status = ThermalStatus.green
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usb_power = True
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network_type = NetworkType.none
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network_strength = NetworkStrength.unknown
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network_info = None
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modem_version = None
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registered_count = 0
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current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
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temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
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pandaState_prev = None
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should_start_prev = False
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handle_fan = None
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is_uno = False
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ui_running_prev = False
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params = Params()
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power_monitor = PowerMonitoring()
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no_panda_cnt = 0
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HARDWARE.initialize_hardware()
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thermal_config = HARDWARE.get_thermal_config()
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# TODO: use PI controller for UNO
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controller = PIController(k_p=0, k_i=2e-3, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
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if params.get_bool("IsOnroad"):
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cloudlog.event("onroad flag not cleared")
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# CPR3 logging
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if EON:
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base_path = "/sys/kernel/debug/cpr3-regulator/"
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cpr_files = [p for p in Path(base_path).glob("**/*") if p.is_file()]
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cpr_files = ["/sys/kernel/debug/regulator/pm8994_s11/voltage"] + cpr_files
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cpr_data = {}
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for cf in cpr_files:
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with open(cf, "r") as f:
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try:
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cpr_data[str(cf)] = f.read().strip()
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except Exception:
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pass
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cloudlog.event("CPR", data=cpr_data)
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while 1:
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pandaState = messaging.recv_sock(pandaState_sock, wait=True)
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msg = read_thermal(thermal_config)
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if pandaState is not None:
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usb_power = pandaState.pandaState.usbPowerMode != log.PandaState.UsbPowerMode.client
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# If we lose connection to the panda, wait 5 seconds before going offroad
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if pandaState.pandaState.pandaType == log.PandaState.PandaType.unknown:
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no_panda_cnt += 1
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if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
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if startup_conditions["ignition"]:
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cloudlog.error("Lost panda connection while onroad")
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startup_conditions["ignition"] = False
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else:
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no_panda_cnt = 0
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startup_conditions["ignition"] = pandaState.pandaState.ignitionLine or pandaState.pandaState.ignitionCan
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startup_conditions["hardware_supported"] = pandaState.pandaState.pandaType not in [log.PandaState.PandaType.whitePanda,
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log.PandaState.PandaType.greyPanda]
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set_offroad_alert_if_changed("Offroad_HardwareUnsupported", not startup_conditions["hardware_supported"])
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# Setup fan handler on first connect to panda
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if handle_fan is None and pandaState.pandaState.pandaType != log.PandaState.PandaType.unknown:
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is_uno = pandaState.pandaState.pandaType == log.PandaState.PandaType.uno
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if TICI:
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cloudlog.info("Setting up TICI fan handler")
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handle_fan = handle_fan_tici
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elif is_uno or PC:
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cloudlog.info("Setting up UNO fan handler")
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handle_fan = handle_fan_uno
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else:
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cloudlog.info("Setting up EON fan handler")
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setup_eon_fan()
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handle_fan = handle_fan_eon
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# Handle disconnect
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if pandaState_prev is not None:
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if pandaState.pandaState.pandaType == log.PandaState.PandaType.unknown and \
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pandaState_prev.pandaState.pandaType != log.PandaState.PandaType.unknown:
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params.clear_all(ParamKeyType.CLEAR_ON_PANDA_DISCONNECT)
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pandaState_prev = pandaState
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# get_network_type is an expensive call. update every 10s
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if (count % int(10. / DT_TRML)) == 0:
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try:
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network_type = HARDWARE.get_network_type()
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network_strength = HARDWARE.get_network_strength(network_type)
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network_info = HARDWARE.get_network_info() # pylint: disable=assignment-from-none
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# Log modem version once
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if modem_version is None:
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modem_version = HARDWARE.get_modem_version() # pylint: disable=assignment-from-none
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if modem_version is not None:
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cloudlog.warning(f"Modem version: {modem_version}")
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if TICI and (network_info.get('state', None) == "REGISTERED"):
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registered_count += 1
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else:
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registered_count = 0
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if registered_count > 10:
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cloudlog.warning(f"Modem stuck in registered state {network_info}. nmcli conn up lte")
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os.system("nmcli conn up lte")
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registered_count = 0
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except Exception:
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cloudlog.exception("Error getting network status")
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msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)
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msg.deviceState.memoryUsagePercent = int(round(psutil.virtual_memory().percent))
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msg.deviceState.cpuUsagePercent = [int(round(n)) for n in psutil.cpu_percent(percpu=True)]
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msg.deviceState.gpuUsagePercent = int(round(HARDWARE.get_gpu_usage_percent()))
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msg.deviceState.networkType = network_type
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msg.deviceState.networkStrength = network_strength
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if network_info is not None:
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msg.deviceState.networkInfo = network_info
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msg.deviceState.batteryPercent = HARDWARE.get_battery_capacity()
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msg.deviceState.batteryCurrent = HARDWARE.get_battery_current()
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msg.deviceState.usbOnline = HARDWARE.get_usb_present()
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current_filter.update(msg.deviceState.batteryCurrent / 1e6)
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max_comp_temp = temp_filter.update(
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max(max(msg.deviceState.cpuTempC), msg.deviceState.memoryTempC, max(msg.deviceState.gpuTempC))
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)
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if handle_fan is not None:
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fan_speed = handle_fan(controller, max_comp_temp, fan_speed, startup_conditions["ignition"])
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msg.deviceState.fanSpeedPercentDesired = fan_speed
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is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5))
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if is_offroad_for_5_min and max_comp_temp > OFFROAD_DANGER_TEMP:
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# If device is offroad we want to cool down before going onroad
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# since going onroad increases load and can make temps go over 107
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thermal_status = ThermalStatus.danger
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else:
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current_band = THERMAL_BANDS[thermal_status]
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band_idx = list(THERMAL_BANDS.keys()).index(thermal_status)
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if current_band.min_temp is not None and max_comp_temp < current_band.min_temp:
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thermal_status = list(THERMAL_BANDS.keys())[band_idx - 1]
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elif current_band.max_temp is not None and max_comp_temp > current_band.max_temp:
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thermal_status = list(THERMAL_BANDS.keys())[band_idx + 1]
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# **** starting logic ****
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# Check for last update time and display alerts if needed
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now = datetime.datetime.utcnow()
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# show invalid date/time alert
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startup_conditions["time_valid"] = (now.year > 2020) or (now.year == 2020 and now.month >= 10)
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set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]))
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# Show update prompt
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try:
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last_update = datetime.datetime.fromisoformat(params.get("LastUpdateTime", encoding='utf8'))
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except (TypeError, ValueError):
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last_update = now
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dt = now - last_update
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update_failed_count = params.get("UpdateFailedCount")
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update_failed_count = 0 if update_failed_count is None else int(update_failed_count)
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last_update_exception = params.get("LastUpdateException", encoding='utf8')
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if update_failed_count > 15 and last_update_exception is not None:
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if tested_branch:
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extra_text = "Ensure the software is correctly installed"
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else:
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extra_text = last_update_exception
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set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
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set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
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set_offroad_alert_if_changed("Offroad_UpdateFailed", True, extra_text=extra_text)
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elif dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
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set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
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set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
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set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", True)
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elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
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remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
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set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
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set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
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set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining_time} days.")
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else:
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set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
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set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
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set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
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startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates")
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startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
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startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
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panda_signature = params.get("PandaFirmware")
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startup_conditions["fw_version_match"] = (panda_signature is None) or (panda_signature == FW_SIGNATURE) # don't show alert is no panda is connected (None)
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set_offroad_alert_if_changed("Offroad_PandaFirmwareMismatch", (not startup_conditions["fw_version_match"]))
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# with 2% left, we killall, otherwise the phone will take a long time to boot
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startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
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startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
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params.get_bool("Passive")
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startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled")
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startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
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# if any CPU gets above 107 or the battery gets above 63, kill all processes
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# controls will warn with CPU above 95 or battery above 60
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startup_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
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set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not startup_conditions["device_temp_good"]))
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if TICI:
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set_offroad_alert_if_changed("Offroad_NvmeMissing", (not Path("/data/media").is_mount()))
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# Handle offroad/onroad transition
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should_start = all(startup_conditions.values())
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if should_start != should_start_prev or (count == 0):
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params.put_bool("IsOnroad", should_start)
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params.put_bool("IsOffroad", not should_start)
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HARDWARE.set_power_save(not should_start)
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if should_start:
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off_ts = None
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if started_ts is None:
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started_ts = sec_since_boot()
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started_seen = True
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else:
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if startup_conditions["ignition"] and (startup_conditions != startup_conditions_prev):
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cloudlog.event("Startup blocked", startup_conditions=startup_conditions)
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started_ts = None
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if off_ts is None:
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off_ts = sec_since_boot()
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# Offroad power monitoring
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power_monitor.calculate(pandaState)
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msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
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msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
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# Check if we need to disable charging (handled by boardd)
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msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(pandaState, off_ts)
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# Check if we need to shut down
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if power_monitor.should_shutdown(pandaState, off_ts, started_seen):
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cloudlog.info(f"shutting device down, offroad since {off_ts}")
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# TODO: add function for blocking cloudlog instead of sleep
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time.sleep(10)
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HARDWARE.shutdown()
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# If UI has crashed, set the brightness to reasonable non-zero value
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manager_state = messaging.recv_one_or_none(managerState_sock)
|
|
if manager_state is not None:
|
|
ui_running = "ui" in (p.name for p in manager_state.managerState.processes if p.running)
|
|
if ui_running_prev and not ui_running:
|
|
HARDWARE.set_screen_brightness(20)
|
|
ui_running_prev = ui_running
|
|
|
|
msg.deviceState.chargingError = current_filter.x > 0. and msg.deviceState.batteryPercent < 90 # if current is positive, then battery is being discharged
|
|
msg.deviceState.started = started_ts is not None
|
|
msg.deviceState.startedMonoTime = int(1e9*(started_ts or 0))
|
|
|
|
last_ping = params.get("LastAthenaPingTime")
|
|
if last_ping is not None:
|
|
msg.deviceState.lastAthenaPingTime = int(last_ping)
|
|
|
|
msg.deviceState.thermalStatus = thermal_status
|
|
pm.send("deviceState", msg)
|
|
|
|
if EON and not is_uno:
|
|
set_offroad_alert_if_changed("Offroad_ChargeDisabled", (not usb_power))
|
|
|
|
should_start_prev = should_start
|
|
startup_conditions_prev = startup_conditions.copy()
|
|
|
|
# report to server once every 10 minutes
|
|
if (count % int(600. / DT_TRML)) == 0:
|
|
if EON and started_ts is None and msg.deviceState.memoryUsagePercent > 40:
|
|
cloudlog.event("High offroad memory usage", mem=msg.deviceState.memoryUsagePercent)
|
|
|
|
location = messaging.recv_sock(location_sock)
|
|
cloudlog.event("STATUS_PACKET",
|
|
count=count,
|
|
pandaState=(strip_deprecated_keys(pandaState.to_dict()) if pandaState else None),
|
|
location=(strip_deprecated_keys(location.gpsLocationExternal.to_dict()) if location else None),
|
|
deviceState=strip_deprecated_keys(msg.to_dict()))
|
|
|
|
count += 1
|
|
|
|
|
|
def main():
|
|
thermald_thread()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|
|
|