You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
399 lines
14 KiB
399 lines
14 KiB
#!/usr/bin/env python3.7
|
|
import os
|
|
import json
|
|
import copy
|
|
import datetime
|
|
import psutil
|
|
from smbus2 import SMBus
|
|
from cereal import log
|
|
from common.android import ANDROID, get_network_type
|
|
from common.basedir import BASEDIR
|
|
from common.params import Params
|
|
from common.realtime import sec_since_boot, DT_TRML
|
|
from common.numpy_fast import clip, interp
|
|
from common.filter_simple import FirstOrderFilter
|
|
from selfdrive.version import terms_version, training_version
|
|
from selfdrive.swaglog import cloudlog
|
|
import cereal.messaging as messaging
|
|
from selfdrive.loggerd.config import get_available_percent
|
|
from selfdrive.pandad import get_expected_signature
|
|
|
|
FW_SIGNATURE = get_expected_signature()
|
|
|
|
ThermalStatus = log.ThermalData.ThermalStatus
|
|
NetworkType = log.ThermalData.NetworkType
|
|
CURRENT_TAU = 15. # 15s time constant
|
|
DAYS_NO_CONNECTIVITY_MAX = 7 # do not allow to engage after a week without internet
|
|
DAYS_NO_CONNECTIVITY_PROMPT = 4 # send an offroad prompt after 4 days with no internet
|
|
|
|
|
|
with open(BASEDIR + "/selfdrive/controls/lib/alerts_offroad.json") as json_file:
|
|
OFFROAD_ALERTS = json.load(json_file)
|
|
|
|
def read_tz(x, clip=True):
|
|
try:
|
|
with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f:
|
|
ret = int(f.read())
|
|
if clip:
|
|
ret = max(0, ret)
|
|
except FileNotFoundError:
|
|
return 0
|
|
|
|
return ret
|
|
|
|
def read_thermal():
|
|
dat = messaging.new_message()
|
|
dat.init('thermal')
|
|
dat.thermal.cpu0 = read_tz(5)
|
|
dat.thermal.cpu1 = read_tz(7)
|
|
dat.thermal.cpu2 = read_tz(10)
|
|
dat.thermal.cpu3 = read_tz(12)
|
|
dat.thermal.mem = read_tz(2)
|
|
dat.thermal.gpu = read_tz(16)
|
|
dat.thermal.bat = read_tz(29)
|
|
dat.thermal.pa0 = read_tz(25)
|
|
return dat
|
|
|
|
LEON = False
|
|
def setup_eon_fan():
|
|
global LEON
|
|
|
|
os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch")
|
|
|
|
bus = SMBus(7, force=True)
|
|
try:
|
|
bus.write_byte_data(0x21, 0x10, 0xf) # mask all interrupts
|
|
bus.write_byte_data(0x21, 0x03, 0x1) # set drive current and global interrupt disable
|
|
bus.write_byte_data(0x21, 0x02, 0x2) # needed?
|
|
bus.write_byte_data(0x21, 0x04, 0x4) # manual override source
|
|
except IOError:
|
|
print("LEON detected")
|
|
#os.system("echo 1 > /sys/devices/soc/6a00000.ssusb/power_supply/usb/usb_otg")
|
|
LEON = True
|
|
bus.close()
|
|
|
|
last_eon_fan_val = None
|
|
def set_eon_fan(val):
|
|
global LEON, last_eon_fan_val
|
|
|
|
if last_eon_fan_val is None or last_eon_fan_val != val:
|
|
bus = SMBus(7, force=True)
|
|
if LEON:
|
|
try:
|
|
i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
|
|
bus.write_i2c_block_data(0x3d, 0, [i])
|
|
except IOError:
|
|
# tusb320
|
|
if val == 0:
|
|
bus.write_i2c_block_data(0x67, 0xa, [0])
|
|
#bus.write_i2c_block_data(0x67, 0x45, [1<<2])
|
|
else:
|
|
#bus.write_i2c_block_data(0x67, 0x45, [0])
|
|
bus.write_i2c_block_data(0x67, 0xa, [0x20])
|
|
bus.write_i2c_block_data(0x67, 0x8, [(val-1)<<6])
|
|
else:
|
|
bus.write_byte_data(0x21, 0x04, 0x2)
|
|
bus.write_byte_data(0x21, 0x03, (val*2)+1)
|
|
bus.write_byte_data(0x21, 0x04, 0x4)
|
|
bus.close()
|
|
last_eon_fan_val = val
|
|
|
|
# temp thresholds to control fan speed - high hysteresis
|
|
_TEMP_THRS_H = [50., 65., 80., 10000]
|
|
# temp thresholds to control fan speed - low hysteresis
|
|
_TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
|
|
# fan speed options
|
|
_FAN_SPEEDS = [0, 16384, 32768, 65535]
|
|
# max fan speed only allowed if battery is hot
|
|
_BAT_TEMP_THERSHOLD = 45.
|
|
|
|
|
|
def handle_fan_eon(max_cpu_temp, bat_temp, fan_speed, ignition):
|
|
new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_cpu_temp)
|
|
new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_cpu_temp)
|
|
|
|
if new_speed_h > fan_speed:
|
|
# update speed if using the high thresholds results in fan speed increment
|
|
fan_speed = new_speed_h
|
|
elif new_speed_l < fan_speed:
|
|
# update speed if using the low thresholds results in fan speed decrement
|
|
fan_speed = new_speed_l
|
|
|
|
if bat_temp < _BAT_TEMP_THERSHOLD:
|
|
# no max fan speed unless battery is hot
|
|
fan_speed = min(fan_speed, _FAN_SPEEDS[-2])
|
|
|
|
set_eon_fan(fan_speed//16384)
|
|
|
|
return fan_speed
|
|
|
|
|
|
def handle_fan_uno(max_cpu_temp, bat_temp, fan_speed, ignition):
|
|
new_speed = int(interp(max_cpu_temp, [40.0, 80.0], [0, 80]))
|
|
|
|
if not ignition:
|
|
new_speed = min(30, new_speed)
|
|
|
|
return new_speed
|
|
|
|
def thermald_thread():
|
|
# prevent LEECO from undervoltage
|
|
BATT_PERC_OFF = 10 if LEON else 3
|
|
|
|
health_timeout = int(1000 * 2.5 * DT_TRML) # 2.5x the expected health frequency
|
|
|
|
# now loop
|
|
thermal_sock = messaging.pub_sock('thermal')
|
|
health_sock = messaging.sub_sock('health', timeout=health_timeout)
|
|
location_sock = messaging.sub_sock('gpsLocation')
|
|
|
|
ignition = False
|
|
fan_speed = 0
|
|
count = 0
|
|
|
|
off_ts = None
|
|
started_ts = None
|
|
started_seen = False
|
|
thermal_status = ThermalStatus.green
|
|
thermal_status_prev = ThermalStatus.green
|
|
usb_power = True
|
|
usb_power_prev = True
|
|
|
|
network_type = NetworkType.none
|
|
|
|
current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
|
|
health_prev = None
|
|
fw_version_match_prev = True
|
|
current_connectivity_alert = None
|
|
time_valid_prev = True
|
|
should_start_prev = False
|
|
|
|
is_uno = (read_tz(29, clip=False) < -1000)
|
|
if is_uno or not ANDROID:
|
|
handle_fan = handle_fan_uno
|
|
else:
|
|
setup_eon_fan()
|
|
handle_fan = handle_fan_eon
|
|
|
|
params = Params()
|
|
|
|
while 1:
|
|
health = messaging.recv_sock(health_sock, wait=True)
|
|
location = messaging.recv_sock(location_sock)
|
|
location = location.gpsLocation if location else None
|
|
msg = read_thermal()
|
|
|
|
# clear car params when panda gets disconnected
|
|
if health is None and health_prev is not None:
|
|
params.panda_disconnect()
|
|
health_prev = health
|
|
|
|
if health is not None:
|
|
usb_power = health.health.usbPowerMode != log.HealthData.UsbPowerMode.client
|
|
|
|
# get_network_type is an expensive call. update every 10s
|
|
if (count % int(10. / DT_TRML)) == 0:
|
|
try:
|
|
network_type = get_network_type()
|
|
except Exception:
|
|
pass
|
|
|
|
msg.thermal.freeSpace = get_available_percent(default=100.0) / 100.0
|
|
msg.thermal.memUsedPercent = int(round(psutil.virtual_memory().percent))
|
|
msg.thermal.cpuPerc = int(round(psutil.cpu_percent()))
|
|
msg.thermal.networkType = network_type
|
|
|
|
try:
|
|
with open("/sys/class/power_supply/battery/capacity") as f:
|
|
msg.thermal.batteryPercent = int(f.read())
|
|
with open("/sys/class/power_supply/battery/status") as f:
|
|
msg.thermal.batteryStatus = f.read().strip()
|
|
with open("/sys/class/power_supply/battery/current_now") as f:
|
|
msg.thermal.batteryCurrent = int(f.read())
|
|
with open("/sys/class/power_supply/battery/voltage_now") as f:
|
|
msg.thermal.batteryVoltage = int(f.read())
|
|
with open("/sys/class/power_supply/usb/present") as f:
|
|
msg.thermal.usbOnline = bool(int(f.read()))
|
|
except FileNotFoundError:
|
|
pass
|
|
|
|
# Fake battery levels on uno for frame
|
|
if is_uno:
|
|
msg.thermal.batteryPercent = 100
|
|
msg.thermal.batteryStatus = "Charging"
|
|
|
|
current_filter.update(msg.thermal.batteryCurrent / 1e6)
|
|
|
|
# TODO: add car battery voltage check
|
|
max_cpu_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
|
|
msg.thermal.cpu2, msg.thermal.cpu3) / 10.0
|
|
max_comp_temp = max(max_cpu_temp, msg.thermal.mem / 10., msg.thermal.gpu / 10.)
|
|
bat_temp = msg.thermal.bat/1000.
|
|
|
|
fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed, ignition)
|
|
msg.thermal.fanSpeed = fan_speed
|
|
|
|
# thermal logic with hysterisis
|
|
if max_cpu_temp > 107. or bat_temp >= 63.:
|
|
# onroad not allowed
|
|
thermal_status = ThermalStatus.danger
|
|
elif max_comp_temp > 92.5 or bat_temp > 60.: # CPU throttling starts around ~90C
|
|
# hysteresis between onroad not allowed and engage not allowed
|
|
thermal_status = clip(thermal_status, ThermalStatus.red, ThermalStatus.danger)
|
|
elif max_cpu_temp > 87.5:
|
|
# hysteresis between engage not allowed and uploader not allowed
|
|
thermal_status = clip(thermal_status, ThermalStatus.yellow, ThermalStatus.red)
|
|
elif max_cpu_temp > 80.0:
|
|
# uploader not allowed
|
|
thermal_status = ThermalStatus.yellow
|
|
elif max_cpu_temp > 75.0:
|
|
# hysteresis between uploader not allowed and all good
|
|
thermal_status = clip(thermal_status, ThermalStatus.green, ThermalStatus.yellow)
|
|
else:
|
|
# all good
|
|
thermal_status = ThermalStatus.green
|
|
|
|
# **** starting logic ****
|
|
|
|
# Check for last update time and display alerts if needed
|
|
now = datetime.datetime.now()
|
|
|
|
# show invalid date/time alert
|
|
time_valid = now.year >= 2019
|
|
if time_valid and not time_valid_prev:
|
|
params.delete("Offroad_InvalidTime")
|
|
if not time_valid and time_valid_prev:
|
|
params.put("Offroad_InvalidTime", json.dumps(OFFROAD_ALERTS["Offroad_InvalidTime"]))
|
|
time_valid_prev = time_valid
|
|
|
|
# Show update prompt
|
|
try:
|
|
last_update = datetime.datetime.fromisoformat(params.get("LastUpdateTime", encoding='utf8'))
|
|
except (TypeError, ValueError):
|
|
last_update = now
|
|
dt = now - last_update
|
|
|
|
update_failed_count = params.get("UpdateFailedCount")
|
|
update_failed_count = 0 if update_failed_count is None else int(update_failed_count)
|
|
|
|
if dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
|
|
if current_connectivity_alert != "expired":
|
|
current_connectivity_alert = "expired"
|
|
params.delete("Offroad_ConnectivityNeededPrompt")
|
|
params.put("Offroad_ConnectivityNeeded", json.dumps(OFFROAD_ALERTS["Offroad_ConnectivityNeeded"]))
|
|
elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
|
|
remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
|
|
if current_connectivity_alert != "prompt" + remaining_time:
|
|
current_connectivity_alert = "prompt" + remaining_time
|
|
alert_connectivity_prompt = copy.copy(OFFROAD_ALERTS["Offroad_ConnectivityNeededPrompt"])
|
|
alert_connectivity_prompt["text"] += remaining_time + " days."
|
|
params.delete("Offroad_ConnectivityNeeded")
|
|
params.put("Offroad_ConnectivityNeededPrompt", json.dumps(alert_connectivity_prompt))
|
|
elif current_connectivity_alert is not None:
|
|
current_connectivity_alert = None
|
|
params.delete("Offroad_ConnectivityNeeded")
|
|
params.delete("Offroad_ConnectivityNeededPrompt")
|
|
|
|
# start constellation of processes when the car starts
|
|
ignition = health is not None and (health.health.ignitionLine or health.health.ignitionCan)
|
|
|
|
do_uninstall = params.get("DoUninstall") == b"1"
|
|
accepted_terms = params.get("HasAcceptedTerms") == terms_version
|
|
completed_training = params.get("CompletedTrainingVersion") == training_version
|
|
|
|
panda_signature = params.get("PandaFirmware")
|
|
fw_version_match = (panda_signature is None) or (panda_signature == FW_SIGNATURE) # don't show alert is no panda is connected (None)
|
|
|
|
should_start = ignition
|
|
|
|
# with 2% left, we killall, otherwise the phone will take a long time to boot
|
|
should_start = should_start and msg.thermal.freeSpace > 0.02
|
|
|
|
# confirm we have completed training and aren't uninstalling
|
|
should_start = should_start and accepted_terms and completed_training and (not do_uninstall)
|
|
|
|
# check for firmware mismatch
|
|
should_start = should_start and fw_version_match
|
|
|
|
# check if system time is valid
|
|
should_start = should_start and time_valid
|
|
|
|
# don't start while taking snapshot
|
|
if not should_start_prev:
|
|
is_taking_snapshot = params.get("IsTakingSnapshot") == b"1"
|
|
should_start = should_start and (not is_taking_snapshot)
|
|
|
|
if fw_version_match and not fw_version_match_prev:
|
|
params.delete("Offroad_PandaFirmwareMismatch")
|
|
if not fw_version_match and fw_version_match_prev:
|
|
params.put("Offroad_PandaFirmwareMismatch", json.dumps(OFFROAD_ALERTS["Offroad_PandaFirmwareMismatch"]))
|
|
|
|
# if any CPU gets above 107 or the battery gets above 63, kill all processes
|
|
# controls will warn with CPU above 95 or battery above 60
|
|
if thermal_status >= ThermalStatus.danger:
|
|
should_start = False
|
|
if thermal_status_prev < ThermalStatus.danger:
|
|
params.put("Offroad_TemperatureTooHigh", json.dumps(OFFROAD_ALERTS["Offroad_TemperatureTooHigh"]))
|
|
else:
|
|
if thermal_status_prev >= ThermalStatus.danger:
|
|
params.delete("Offroad_TemperatureTooHigh")
|
|
|
|
if should_start:
|
|
if not should_start_prev:
|
|
params.delete("IsOffroad")
|
|
|
|
off_ts = None
|
|
if started_ts is None:
|
|
started_ts = sec_since_boot()
|
|
started_seen = True
|
|
os.system('echo performance > /sys/class/devfreq/soc:qcom,cpubw/governor')
|
|
else:
|
|
if should_start_prev or (count == 0):
|
|
params.put("IsOffroad", "1")
|
|
|
|
started_ts = None
|
|
if off_ts is None:
|
|
off_ts = sec_since_boot()
|
|
os.system('echo powersave > /sys/class/devfreq/soc:qcom,cpubw/governor')
|
|
|
|
# shutdown if the battery gets lower than 3%, it's discharging, we aren't running for
|
|
# more than a minute but we were running
|
|
if msg.thermal.batteryPercent < BATT_PERC_OFF and msg.thermal.batteryStatus == "Discharging" and \
|
|
started_seen and (sec_since_boot() - off_ts) > 60:
|
|
os.system('LD_LIBRARY_PATH="" svc power shutdown')
|
|
|
|
msg.thermal.chargingError = current_filter.x > 0. and msg.thermal.batteryPercent < 90 # if current is positive, then battery is being discharged
|
|
msg.thermal.started = started_ts is not None
|
|
msg.thermal.startedTs = int(1e9*(started_ts or 0))
|
|
|
|
msg.thermal.thermalStatus = thermal_status
|
|
thermal_sock.send(msg.to_bytes())
|
|
|
|
if usb_power_prev and not usb_power:
|
|
params.put("Offroad_ChargeDisabled", json.dumps(OFFROAD_ALERTS["Offroad_ChargeDisabled"]))
|
|
elif usb_power and not usb_power_prev:
|
|
params.delete("Offroad_ChargeDisabled")
|
|
|
|
thermal_status_prev = thermal_status
|
|
usb_power_prev = usb_power
|
|
fw_version_match_prev = fw_version_match
|
|
should_start_prev = should_start
|
|
|
|
#print(msg)
|
|
|
|
# report to server once per minute
|
|
if (count % int(60. / DT_TRML)) == 0:
|
|
cloudlog.event("STATUS_PACKET",
|
|
count=count,
|
|
health=(health.to_dict() if health else None),
|
|
location=(location.to_dict() if location else None),
|
|
thermal=msg.to_dict())
|
|
|
|
count += 1
|
|
|
|
|
|
def main():
|
|
thermald_thread()
|
|
|
|
if __name__ == "__main__":
|
|
main()
|
|
|