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thermald: track engaged state in param and kmsg #23478

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merged 4 commits into from
Jan 10, 2022
Merged

thermald: track engaged state in param and kmsg #23478

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a25f2f6
thermald: track engaged state in param
pd0wm Jan 10, 2022
bf5de1f
write in kmsg
pd0wm Jan 10, 2022
8aada2f
format string
pd0wm Jan 10, 2022
6493c2c
move to python
pd0wm Jan 10, 2022
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2 changes: 1 addition & 1 deletion selfdrive/common/params.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,6 @@ std::unordered_map<std::string, uint32_t> keys = {
{"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
{"AthenadPid", PERSISTENT},
{"AthenadUploadQueue", PERSISTENT},
{"BootedOnroad", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"CalibrationParams", PERSISTENT},
{"CarBatteryCapacity", PERSISTENT},
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
Expand Down Expand Up @@ -121,6 +120,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"IMEI", PERSISTENT},
{"InstallDate", PERSISTENT},
{"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
{"IsEngaged", PERSISTENT},
{"IsLdwEnabled", PERSISTENT},
{"IsMetric", PERSISTENT},
{"IsOffroad", CLEAR_ON_MANAGER_START},
Expand Down
3 changes: 3 additions & 0 deletions selfdrive/hardware/tici/hardware.py
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Expand Up @@ -320,6 +320,9 @@ def get_gpu_usage_percent(self):
def initialize_hardware(self):
self.amplifier.initialize_configuration()

# Allow thermald to write engagement status to kmsg
os.system("sudo chmod a+w /dev/kmsg")

def get_networks(self):
r = {}

Expand Down
22 changes: 17 additions & 5 deletions selfdrive/thermald/thermald.py
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Original file line number Diff line number Diff line change
Expand Up @@ -158,7 +158,7 @@ def thermald_thread() -> NoReturn:

pandaState_timeout = int(1000 * 2.5 * DT_TRML) # 2.5x the expected pandaState frequency
pandaState_sock = messaging.sub_sock('pandaStates', timeout=pandaState_timeout)
sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "managerState"])
sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "managerState", "controlsState"])

fan_speed = 0
count = 0
Expand Down Expand Up @@ -191,6 +191,7 @@ def thermald_thread() -> NoReturn:
handle_fan = None
is_uno = False
ui_running_prev = False
engaged_prev = False

params = Params()
power_monitor = PowerMonitoring()
Expand All @@ -202,10 +203,6 @@ def thermald_thread() -> NoReturn:
# TODO: use PI controller for UNO
controller = PIController(k_p=0, k_i=2e-3, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))

# Leave flag for loggerd to indicate device was left onroad
if params.get_bool("IsOnroad"):
params.put_bool("BootedOnroad", True)

while True:
pandaStates = messaging.recv_sock(pandaState_sock, wait=True)

Expand Down Expand Up @@ -354,8 +351,23 @@ def thermald_thread() -> NoReturn:
if should_start != should_start_prev or (count == 0):
params.put_bool("IsOnroad", should_start)
params.put_bool("IsOffroad", not should_start)

params.put_bool("IsEngaged", False)
engaged_prev = False
HARDWARE.set_power_save(not should_start)

if sm.updated['controlsState']:
engaged = sm['controlsState'].enabled
if engaged != engaged_prev:
params.put_bool("IsEngaged", engaged)
engaged_prev = engaged

try:
with open('/dev/kmsg', 'w') as kmsg:
kmsg.write(f"[thermald] engaged: {engaged}")
except Exception:
pass

if should_start:
off_ts = None
if started_ts is None:
Expand Down