def thermald_thread():
# prevent LEECO from undervoltage
BATT_PERC_OFF = int(kegman.conf['battPercOff'])
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
charging_disabled = False
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
# update network_type every 5s, decrease cpu usage
if (count % int(5. / DT_TRML)) == 0:
try:
network_type = get_network_type()
except subprocess.CalledProcessError:
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
# if dt.days > DAYS_NO_CONNECTIVITY_MAX:
# 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(DAYS_NO_CONNECTIVITY_MAX - dt.days)
# 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')
charging_disabled = check_car_battery_voltage(should_start, health,
charging_disabled, msg)
if msg.thermal.batteryCurrent > 0:
msg.thermal.batteryStatus = "Discharging"
else:
msg.thermal.batteryStatus = "Charging"
msg.thermal.chargingDisabled = charging_disabled
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
class LatControlINDI(LatControl):
def __init__(self, CP, CI):
super().__init__(CP, CI)
self.angle_steers_des = 0.
A = np.array([[1.0, DT_CTRL, 0.0], [0.0, 1.0, DT_CTRL],
[0.0, 0.0, 1.0]])
C = np.array([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0]])
# Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]])
# R = np.matrix([[1e-2, 0.0], [0.0, 1e3]])
# (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R)
# K = np.transpose(K)
K = np.array([[7.30262179e-01, 2.07003658e-04],
[7.29394177e+00, 1.39159419e-02],
[1.71022442e+01, 3.38495381e-02]])
self.speed = 0.
self.K = K
self.A_K = A - np.dot(K, C)
self.x = np.array([[0.], [0.], [0.]])
self._RC = (CP.lateralTuning.indi.timeConstantBP,
CP.lateralTuning.indi.timeConstantV)
self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP,
CP.lateralTuning.indi.actuatorEffectivenessV)
self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP,
CP.lateralTuning.indi.outerLoopGainV)
self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP,
CP.lateralTuning.indi.innerLoopGainV)
self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL)
self.reset()
@property
def RC(self):
return interp(self.speed, self._RC[0], self._RC[1])
@property
def G(self):
return interp(self.speed, self._G[0], self._G[1])
@property
def outer_loop_gain(self):
return interp(self.speed, self._outer_loop_gain[0],
self._outer_loop_gain[1])
@property
def inner_loop_gain(self):
return interp(self.speed, self._inner_loop_gain[0],
self._inner_loop_gain[1])
def reset(self):
super().reset()
self.steer_filter.x = 0.
self.speed = 0.
def update(self, active, CS, VM, params, last_actuators, steer_limited,
desired_curvature, desired_curvature_rate, llk):
self.speed = CS.vEgo
# Update Kalman filter
y = np.array([[math.radians(CS.steeringAngleDeg)],
[math.radians(CS.steeringRateDeg)]])
self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y)
indi_log = log.ControlsState.LateralINDIState.new_message()
indi_log.steeringAngleDeg = math.degrees(self.x[0])
indi_log.steeringRateDeg = math.degrees(self.x[1])
indi_log.steeringAccelDeg = math.degrees(self.x[2])
steers_des = VM.get_steer_from_curvature(-desired_curvature, CS.vEgo,
params.roll)
steers_des += math.radians(params.angleOffsetDeg)
indi_log.steeringAngleDesiredDeg = math.degrees(steers_des)
# desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
rate_des = VM.get_steer_from_curvature(-desired_curvature_rate,
CS.vEgo, 0)
indi_log.steeringRateDesiredDeg = math.degrees(rate_des)
if CS.vEgo < MIN_STEER_SPEED or not active:
indi_log.active = False
self.steer_filter.x = 0.0
output_steer = 0
else:
# Expected actuator value
self.steer_filter.update_alpha(self.RC)
self.steer_filter.update(last_actuators.steer)
# Compute acceleration error
rate_sp = self.outer_loop_gain * (steers_des -
self.x[0]) + rate_des
accel_sp = self.inner_loop_gain * (rate_sp - self.x[1])
accel_error = accel_sp - self.x[2]
# Compute change in actuator
g_inv = 1. / self.G
delta_u = g_inv * accel_error
# If steering pressed, only allow wind down
if CS.steeringPressed and (delta_u * last_actuators.steer > 0):
delta_u = 0
output_steer = self.steer_filter.x + delta_u
output_steer = clip(output_steer, -self.steer_max, self.steer_max)
indi_log.active = True
indi_log.rateSetPoint = float(rate_sp)
indi_log.accelSetPoint = float(accel_sp)
indi_log.accelError = float(accel_error)
indi_log.delayedOutput = float(self.steer_filter.x)
indi_log.delta = float(delta_u)
indi_log.output = float(output_steer)
indi_log.saturated = self._check_saturation(
self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
return float(output_steer), float(steers_des), indi_log
class DriverStatus():
def __init__(self):
self.pose = DriverPose()
self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT and \
self.pose.yaw_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT
self.blink = DriverBlink()
self.awareness = 1.
self.awareness_active = 1.
self.awareness_passive = 1.
self.driver_distracted = False
self.driver_distraction_filter = FirstOrderFilter(
0., _DISTRACTED_FILTER_TS, DT_DMON)
self.face_detected = False
self.terminal_alert_cnt = 0
self.terminal_time = 0
self.step_change = 0.
self.active_monitoring_mode = True
self.hi_stds = 0
self.hi_std_alert_enabled = True
self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
self.is_rhd_region = False
self.is_rhd_region_checked = False
self._set_timers(active_monitoring=True)
def _set_timers(self, active_monitoring):
if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
if active_monitoring:
self.step_change = DT_DMON / _DISTRACTED_TIME
else:
self.step_change = 0.
return # no exploit after orange alert
elif self.awareness <= 0.:
return
if active_monitoring:
# when falling back from passive mode to active mode, reset awareness to avoid false alert
if not self.active_monitoring_mode:
self.awareness_passive = self.awareness
self.awareness = self.awareness_active
self.threshold_pre = _DISTRACTED_PRE_TIME_TILL_TERMINAL / _DISTRACTED_TIME
self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
self.step_change = DT_DMON / _DISTRACTED_TIME
self.active_monitoring_mode = True
else:
if self.active_monitoring_mode:
self.awareness_active = self.awareness
self.awareness = self.awareness_passive
self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME
self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME
self.step_change = DT_DMON / _AWARENESS_TIME
self.active_monitoring_mode = False
def _is_driver_distracted(self, pose, blink):
if not self.pose_calibrated:
pitch_error = pose.pitch - _PITCH_NATURAL_OFFSET
yaw_error = pose.yaw - _YAW_NATURAL_OFFSET
else:
pitch_error = pose.pitch - self.pose.pitch_offseter.filtered_stat.mean(
)
yaw_error = pose.yaw - self.pose.yaw_offseter.filtered_stat.mean()
# positive pitch allowance
if pitch_error > 0.:
pitch_error = max(pitch_error - _PITCH_POS_ALLOWANCE, 0.)
pitch_error *= _PITCH_WEIGHT
pose_metric = sqrt(yaw_error**2 + pitch_error**2)
if pose_metric > _METRIC_THRESHOLD * pose.cfactor:
return DistractedType.BAD_POSE
elif (blink.left_blink +
blink.right_blink) * 0.5 > _BLINK_THRESHOLD * blink.cfactor:
return DistractedType.BAD_BLINK
else:
return DistractedType.NOT_DISTRACTED
def set_policy(self, model_data):
ep = min(model_data.meta.engagedProb, 0.8) / 0.8
self.pose.cfactor = interp(ep, [0, 0.5, 1], [
_METRIC_THRESHOLD_STRICT, _METRIC_THRESHOLD,
_METRIC_THRESHOLD_SLACK
]) / _METRIC_THRESHOLD
self.blink.cfactor = interp(ep, [0, 0.5, 1], [
_BLINK_THRESHOLD_STRICT, _BLINK_THRESHOLD, _BLINK_THRESHOLD_SLACK
]) / _BLINK_THRESHOLD
def get_pose(self, driver_state, cal_rpy, car_speed, op_engaged):
# 10 Hz
if len(driver_state.faceOrientation) == 0 or len(
driver_state.facePosition) == 0 or len(
driver_state.faceOrientationStd) == 0 or len(
driver_state.facePositionStd) == 0:
return
self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(
driver_state.faceOrientation, driver_state.facePosition, cal_rpy,
self.is_rhd_region)
self.pose.pitch_std = driver_state.faceOrientationStd[0]
self.pose.yaw_std = driver_state.faceOrientationStd[1]
# self.pose.roll_std = driver_state.faceOrientationStd[2]
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
self.pose.low_std = model_std_max < _POSESTD_THRESHOLD
self.blink.left_blink = driver_state.leftBlinkProb * (
driver_state.leftEyeProb > _EYE_THRESHOLD) * (driver_state.sgProb <
_SG_THRESHOLD)
self.blink.right_blink = driver_state.rightBlinkProb * (
driver_state.rightEyeProb > _EYE_THRESHOLD) * (driver_state.sgProb
< _SG_THRESHOLD)
self.face_detected = driver_state.faceProb > _FACE_THRESHOLD and \
abs(driver_state.facePosition[0]) <= 0.4 and abs(driver_state.facePosition[1]) <= 0.45
self.driver_distracted = self._is_driver_distracted(
self.pose, self.blink) > 0
# first order filters
self.driver_distraction_filter.update(self.driver_distracted)
# update offseter
# only update when driver is actively driving the car above a certain speed
if self.face_detected and car_speed > _POSE_CALIB_MIN_SPEED and self.pose.low_std and (
not op_engaged or not self.driver_distracted):
self.pose.pitch_offseter.push_and_update(self.pose.pitch)
self.pose.yaw_offseter.push_and_update(self.pose.yaw)
self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT and \
self.pose.yaw_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT
is_model_uncertain = self.hi_stds * DT_DMON > _HI_STD_FALLBACK_TIME
self._set_timers(self.face_detected and not is_model_uncertain)
if self.face_detected and not self.pose.low_std:
if not is_model_uncertain:
#self.step_change *= max(0, (model_std_max-0.5)*(model_std_max-2))
self.step_change *= min(
1.0,
max(0.6,
1.6 * (model_std_max - 0.5) * (model_std_max - 2)))
self.hi_stds += 1
elif self.face_detected and self.pose.low_std:
self.hi_stds = 0
def update(self, events, driver_engaged, ctrl_active, standstill):
if (driver_engaged and self.awareness > 0) or not ctrl_active:
# reset only when on disengagement if red reached
self.awareness = 1.
self.awareness_active = 1.
self.awareness_passive = 1.
return
driver_attentive = self.driver_distraction_filter.x < 0.37
awareness_prev = self.awareness
#if self.face_detected and self.hi_stds * DT_DMON > _HI_STD_TIMEOUT:
if self.face_detected and self.hi_stds * DT_DMON > _HI_STD_TIMEOUT and self.hi_std_alert_enabled:
events.add(EventName.driverMonitorLowAcc)
self.hi_std_alert_enabled = False # only showed once until orange prompt resets it
if (driver_attentive and self.face_detected and self.pose.low_std
and self.awareness > 0):
# only restore awareness when paying attention and alert is not red
self.awareness = min(
self.awareness +
((_RECOVERY_FACTOR_MAX - _RECOVERY_FACTOR_MIN) *
(1. - self.awareness) + _RECOVERY_FACTOR_MIN) *
self.step_change, 1.)
if self.awareness == 1.:
self.awareness_passive = min(
self.awareness_passive + self.step_change, 1.)
# don't display alert banner when awareness is recovering and has cleared orange
if self.awareness > self.threshold_prompt:
return
# should always be counting if distracted unless at standstill and reaching orange
if (not (self.face_detected and self.hi_stds * DT_DMON <= _HI_STD_FALLBACK_TIME) or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected)) and \
not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
self.awareness = max(self.awareness - self.step_change, -0.1)
alert = None
if self.awareness <= 0.:
# terminal red alert: disengagement required
alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive
self.terminal_time += 1
if awareness_prev > 0.:
self.terminal_alert_cnt += 1
elif self.awareness <= self.threshold_prompt:
# prompt orange alert
alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
self.hi_std_alert_enabled = True
elif self.awareness <= self.threshold_pre:
# pre green alert
alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
if alert is not None:
events.add(alert)
class Planner:
def __init__(self, CP, init_v=0.0, init_a=0.0):
self.CP = CP
self.mpc = LongitudinalMpc()
self.fcw = False
self.a_desired = init_a
self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL)
self.v_desired_trajectory = np.zeros(CONTROL_N)
self.a_desired_trajectory = np.zeros(CONTROL_N)
self.j_desired_trajectory = np.zeros(CONTROL_N)
self.solverExecutionTime = 0.0
def update(self, sm):
v_ego = sm['carState'].vEgo
v_cruise_kph = sm['controlsState'].vCruise
v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX)
v_cruise = v_cruise_kph * CV.KPH_TO_MS
long_control_state = sm['controlsState'].longControlState
force_slow_decel = sm['controlsState'].forceDecel
# Reset current state when not engaged, or user is controlling the speed
reset_state = long_control_state == LongCtrlState.off
# No change cost when user is controlling the speed, or when standstill
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
if reset_state:
self.v_desired_filter.x = v_ego
self.a_desired = 0.0
# Prevent divergence, smooth in current v_ego
self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
accel_limits_turns = limit_accel_in_turns(
v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
if force_slow_decel:
# if required so, force a smooth deceleration
accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL)
accel_limits_turns[0] = min(accel_limits_turns[0],
accel_limits_turns[1])
# clip limits, cannot init MPC outside of bounds
accel_limits_turns[0] = min(accel_limits_turns[0],
self.a_desired + 0.05)
accel_limits_turns[1] = max(accel_limits_turns[1],
self.a_desired - 0.05)
self.mpc.set_weights(prev_accel_constraint)
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
self.mpc.update(sm['carState'], sm['radarState'], v_cruise)
self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC,
self.mpc.v_solution)
self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC,
self.mpc.a_solution)
self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N],
T_IDXS_MPC[:-1],
self.mpc.j_solution)
# TODO counter is only needed because radar is glitchy, remove once radar is gone
self.fcw = self.mpc.crash_cnt > 5
if self.fcw:
cloudlog.info("FCW triggered")
# Interpolate 0.05 seconds and save as starting point for next iteration
a_prev = self.a_desired
self.a_desired = float(
interp(DT_MDL, T_IDXS[:CONTROL_N], self.a_desired_trajectory))
self.v_desired_filter.x = self.v_desired_filter.x + DT_MDL * (
self.a_desired + a_prev) / 2.0
def publish(self, sm, pm):
plan_send = messaging.new_message('longitudinalPlan')
plan_send.valid = sm.all_checks(
service_list=['carState', 'controlsState'])
longitudinalPlan = plan_send.longitudinalPlan
longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
longitudinalPlan.processingDelay = (plan_send.logMonoTime /
1e9) - sm.logMonoTime['modelV2']
longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
longitudinalPlan.accels = self.a_desired_trajectory.tolist()
longitudinalPlan.jerks = self.j_desired_trajectory.tolist()
longitudinalPlan.hasLead = sm['radarState'].leadOne.status
longitudinalPlan.longitudinalPlanSource = self.mpc.source
longitudinalPlan.fcw = self.fcw
longitudinalPlan.solverExecutionTime = self.mpc.solve_time
pm.send('longitudinalPlan', plan_send)
class Planner:
def __init__(self, CP, init_v=0.0, init_a=0.0):
self.CP = CP
self.mpc = LongitudinalMpc()
self.fcw = False
self.a_desired = init_a
self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL)
self.v_desired_trajectory = np.zeros(CONTROL_N)
self.a_desired_trajectory = np.zeros(CONTROL_N)
self.j_desired_trajectory = np.zeros(CONTROL_N)
self.use_cluster_speed = Params().get_bool('UseClusterSpeed')
self.long_control_enabled = Params().get_bool('LongControlEnabled')
def update(self, sm):
v_ego = sm['carState'].vEgo
a_ego = sm['carState'].aEgo
v_cruise_kph = sm['controlsState'].vCruise
v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX)
v_cruise = v_cruise_kph * CV.KPH_TO_MS
# neokii
if not self.use_cluster_speed:
vCluRatio = sm['carState'].vCluRatio
if vCluRatio > 0.5:
v_cruise *= vCluRatio
v_cruise = int(v_cruise * CV.MS_TO_KPH) * CV.KPH_TO_MS
long_control_state = sm['controlsState'].longControlState
force_slow_decel = sm['controlsState'].forceDecel
prev_accel_constraint = True
if long_control_state == LongCtrlState.off or sm['carState'].gasPressed:
self.v_desired_filter.x = v_ego
self.a_desired = 0.0
# Smoothly changing between accel trajectory is only relevant when OP is driving
prev_accel_constraint = False
# Prevent divergence, smooth in current v_ego
self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
if force_slow_decel:
# if required so, force a smooth deceleration
accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL)
accel_limits_turns[0] = min(accel_limits_turns[0], accel_limits_turns[1])
# clip limits, cannot init MPC outside of bounds
accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
self.mpc.update(sm['carState'], sm['radarState'], v_cruise, prev_accel_constraint=prev_accel_constraint)
self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution)
self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution)
self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
# TODO counter is only needed because radar is glitchy, remove once radar is gone
self.fcw = self.mpc.crash_cnt > 5
if self.fcw:
cloudlog.info("FCW triggered")
# Interpolate 0.05 seconds and save as starting point for next iteration
a_prev = self.a_desired
self.a_desired = float(interp(DT_MDL, T_IDXS[:CONTROL_N], self.a_desired_trajectory))
self.v_desired_filter.x = self.v_desired_filter.x + DT_MDL * (self.a_desired + a_prev) / 2.0
def publish(self, sm, pm):
plan_send = messaging.new_message('longitudinalPlan')
plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState'])
longitudinalPlan = plan_send.longitudinalPlan
longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
longitudinalPlan.accels = self.a_desired_trajectory.tolist()
longitudinalPlan.jerks = self.j_desired_trajectory.tolist()
longitudinalPlan.hasLead = sm['radarState'].leadOne.status
longitudinalPlan.longitudinalPlanSource = self.mpc.source
longitudinalPlan.fcw = self.fcw
longitudinalPlan.solverExecutionTime = self.mpc.solve_time
pm.send('longitudinalPlan', plan_send)
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"]
# On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
# the signal is zeroed to where the steering angle is at start.
# Need to apply an offset as soon as the steering angle measurements are both received
self.needs_angle_offset = True
self.accurate_steer_angle_seen = False
self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False)
self.low_speed_lockout = False
self.acc_type = 1
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"],
cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RR"]])
ret.seatbeltUnlatched = cp.vl["BODY_CONTROL_STATE"]["SEATBELT_DRIVER_UNLATCHED"] != 0
ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1
if self.CP.enableGasInterceptor:
ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
ret.gasPressed = ret.gas > 15
else:
ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
)
ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.001
ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
# Some newer models have a more accurate angle measurement in the TORQUE_SENSOR message. Use if non-zero
if abs(torque_sensor_angle_deg) > 1e-3:
self.accurate_steer_angle_seen = True
if self.accurate_steer_angle_seen:
# Offset seems to be invalid for large steering angles
if abs(ret.steeringAngleDeg) < 90:
self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg)
if self.angle_offset.initialized:
ret.steeringAngleOffsetDeg = self.angle_offset.x
ret.steeringAngleDeg = torque_sensor_angle_deg - self.angle_offset.x
ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"]
# we could use the override bit from dbc, but it's triggered at too high torque values
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in (1, 5)
if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
else:
ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
if self.CP.carFingerprint in TSS2_CAR:
self.acc_type = cp_cam.vl["ACC_CONTROL"]["ACC_TYPE"]
# some TSS2 cars have low speed lockout permanently set, so ignore on those cars
# these cars are identified by an ACC_TYPE value of 2.
# TODO: it is possible to avoid the lockout and gain stop and go if you
# send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1
if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in (CAR.LEXUS_IS, CAR.LEXUS_RC)) or \
(self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"]
if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor:
# ignore standstill in hybrid vehicles, since pcm allows to restart without
# receiving any special command. Also if interceptor is detected
ret.cruiseState.standstill = False
else:
ret.cruiseState.standstill = self.pcm_acc_status == 7
ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
# 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
self.steer_state = cp.vl["EPS_STATUS"]["LKA_STATE"]
if self.CP.enableBsm:
ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
return ret
@staticmethod
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
("GEAR", "GEAR_PACKET", 0),
("BRAKE_PRESSED", "BRAKE_MODULE", 0),
("GAS_PEDAL", "GAS_PEDAL", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("DOOR_OPEN_FL", "BODY_CONTROL_STATE", 1),
("DOOR_OPEN_FR", "BODY_CONTROL_STATE", 1),
("DOOR_OPEN_RL", "BODY_CONTROL_STATE", 1),
("DOOR_OPEN_RR", "BODY_CONTROL_STATE", 1),
("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE", 1),
("TC_DISABLED", "ESP_CONTROL", 1),
("BRAKE_HOLD_ACTIVE", "ESP_CONTROL", 1),
("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
("CRUISE_ACTIVE", "PCM_CRUISE", 0),
("CRUISE_STATE", "PCM_CRUISE", 0),
("GAS_RELEASED", "PCM_CRUISE", 1),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0),
("TURN_SIGNALS", "BLINKERS_STATE", 3), # 3 is no blinkers
("LKA_STATE", "EPS_STATUS", 0),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
]
checks = [
("GEAR_PACKET", 1),
("LIGHT_STALK", 1),
("BLINKERS_STATE", 0.15),
("BODY_CONTROL_STATE", 3),
("ESP_CONTROL", 3),
("EPS_STATUS", 25),
("BRAKE_MODULE", 40),
("GAS_PEDAL", 33),
("WHEEL_SPEEDS", 80),
("STEER_ANGLE_SENSOR", 80),
("PCM_CRUISE", 33),
("STEER_TORQUE_SENSOR", 50),
]
if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
signals.append(("MAIN_ON", "DSU_CRUISE", 0))
signals.append(("SET_SPEED", "DSU_CRUISE", 0))
checks.append(("DSU_CRUISE", 5))
else:
signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
checks.append(("PCM_CRUISE_2", 33))
# add gas interceptor reading if we are using it
if CP.enableGasInterceptor:
signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
checks.append(("GAS_SENSOR", 50))
if CP.enableBsm:
signals += [
("L_ADJACENT", "BSM", 0),
("L_APPROACHING", "BSM", 0),
("R_ADJACENT", "BSM", 0),
("R_APPROACHING", "BSM", 0),
]
checks += [
("BSM", 1)
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
signals = [
("FORCE", "PRE_COLLISION", 0),
("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0),
]
# use steering message to check if panda is connected to frc
checks = [
("STEERING_LKA", 42),
("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent
]
if CP.carFingerprint in TSS2_CAR:
signals.append(("ACC_TYPE", "ACC_CONTROL", 0))
checks.append(("ACC_CONTROL", 33))
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
class DriverStatus():
def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()):
# init policy settings
self.settings = settings
# init driver status
self.is_rhd_region = rhd
self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
self.pose_calibrated = False
self.blink = DriverBlink()
self.awareness = 1.
self.awareness_active = 1.
self.awareness_passive = 1.
self.driver_distracted = False
self.driver_distraction_filter = FirstOrderFilter(
0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
self.face_detected = False
self.face_partial = False
self.terminal_alert_cnt = 0
self.terminal_time = 0
self.step_change = 0.
self.active_monitoring_mode = True
self.is_model_uncertain = False
self.hi_stds = 0
self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
self._set_timers(active_monitoring=True)
def _set_timers(self, active_monitoring):
if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
if active_monitoring:
self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
else:
self.step_change = 0.
return # no exploit after orange alert
elif self.awareness <= 0.:
return
if active_monitoring:
# when falling back from passive mode to active mode, reset awareness to avoid false alert
if not self.active_monitoring_mode:
self.awareness_passive = self.awareness
self.awareness = self.awareness_active
self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
self.step_change = self.settings._DT_DMON / self.settings._DISTRACTED_TIME
self.active_monitoring_mode = True
else:
if self.active_monitoring_mode:
self.awareness_active = self.awareness
self.awareness = self.awareness_passive
self.threshold_pre = self.settings._AWARENESS_PRE_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
self.threshold_prompt = self.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.settings._AWARENESS_TIME
self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME
self.active_monitoring_mode = False
def _is_driver_distracted(self, pose, blink):
if not self.pose_calibrated:
pitch_error = pose.pitch - self.settings._PITCH_NATURAL_OFFSET
yaw_error = pose.yaw - self.settings._YAW_NATURAL_OFFSET
else:
pitch_error = pose.pitch - min(
max(self.pose.pitch_offseter.filtered_stat.mean(),
self.settings._PITCH_MIN_OFFSET),
self.settings._PITCH_MAX_OFFSET)
yaw_error = pose.yaw - min(
max(self.pose.yaw_offseter.filtered_stat.mean(),
self.settings._YAW_MIN_OFFSET),
self.settings._YAW_MAX_OFFSET)
pitch_error = 0 if pitch_error > 0 else abs(
pitch_error) # no positive pitch limit
yaw_error = abs(yaw_error)
if pitch_error > self.settings._POSE_PITCH_THRESHOLD*pose.cfactor_pitch or \
yaw_error > self.settings._POSE_YAW_THRESHOLD*pose.cfactor_yaw:
return DistractedType.BAD_POSE
elif (blink.left_blink + blink.right_blink
) * 0.5 > self.settings._BLINK_THRESHOLD * blink.cfactor:
return DistractedType.BAD_BLINK
else:
return DistractedType.NOT_DISTRACTED
def set_policy(self, model_data, car_speed):
ep = min(model_data.meta.engagedProb, 0.8) / 0.8 # engaged prob
bp = model_data.meta.disengagePredictions.brakeDisengageProbs[
0] # brake disengage prob in next 2s
# TODO: retune adaptive blink
self.blink.cfactor = interp(ep, [0, 0.5, 1], [
self.settings._BLINK_THRESHOLD_STRICT,
self.settings._BLINK_THRESHOLD,
self.settings._BLINK_THRESHOLD_SLACK
]) / self.settings._BLINK_THRESHOLD
k1 = max(-0.00156 * ((car_speed - 16)**2) + 0.6, 0.2)
bp_normal = max(min(bp / k1, 0.5), 0)
self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5], [
self.settings._POSE_PITCH_THRESHOLD_SLACK,
self.settings._POSE_PITCH_THRESHOLD_STRICT
]) / self.settings._POSE_PITCH_THRESHOLD
self.pose.cfactor_yaw = interp(bp_normal, [0, 0.5], [
self.settings._POSE_YAW_THRESHOLD_SLACK,
self.settings._POSE_YAW_THRESHOLD_STRICT
]) / self.settings._POSE_YAW_THRESHOLD
def get_pose(self, driver_state, cal_rpy, car_speed, op_engaged):
if not all(
len(x) > 0 for x in (driver_state.faceOrientation,
driver_state.facePosition,
driver_state.faceOrientationStd,
driver_state.facePositionStd)):
return
self.face_partial = driver_state.partialFace > self.settings._PARTIAL_FACE_THRESHOLD
self.face_detected = driver_state.faceProb > self.settings._FACE_THRESHOLD or self.face_partial
self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(
driver_state.faceOrientation, driver_state.facePosition, cal_rpy,
self.is_rhd_region)
self.pose.pitch_std = driver_state.faceOrientationStd[0]
self.pose.yaw_std = driver_state.faceOrientationStd[1]
# self.pose.roll_std = driver_state.faceOrientationStd[2]
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD and not self.face_partial
self.blink.left_blink = driver_state.leftBlinkProb * (
driver_state.leftEyeProb > self.settings._EYE_THRESHOLD) * (
driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink.right_blink = driver_state.rightBlinkProb * (
driver_state.rightEyeProb > self.settings._EYE_THRESHOLD) * (
driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
self.driver_distracted = self._is_driver_distracted(self.pose, self.blink) > 0 and \
driver_state.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
self.driver_distraction_filter.update(self.driver_distracted)
# update offseter
# only update when driver is actively driving the car above a certain speed
if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (
not op_engaged or not self.driver_distracted):
self.pose.pitch_offseter.push_and_update(self.pose.pitch)
self.pose.yaw_offseter.push_and_update(self.pose.yaw)
self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
self.is_model_uncertain = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME
self._set_timers(self.face_detected and not self.is_model_uncertain)
if self.face_detected and not self.pose.low_std and not self.driver_distracted:
self.hi_stds += 1
elif self.face_detected and self.pose.low_std:
self.hi_stds = 0
def update(self, events, driver_engaged, ctrl_active, standstill):
if (driver_engaged and self.awareness > 0) or not ctrl_active:
# reset only when on disengagement if red reached
self.awareness = 1.
self.awareness_active = 1.
self.awareness_passive = 1.
return
driver_attentive = self.driver_distraction_filter.x < 0.37
awareness_prev = self.awareness
if (driver_attentive and self.face_detected and self.pose.low_std
and self.awareness > 0):
# only restore awareness when paying attention and alert is not red
self.awareness = min(
self.awareness +
((self.settings._RECOVERY_FACTOR_MAX -
self.settings._RECOVERY_FACTOR_MIN) *
(1. - self.awareness) + self.settings._RECOVERY_FACTOR_MIN) *
self.step_change, 1.)
if self.awareness == 1.:
self.awareness_passive = min(
self.awareness_passive + self.step_change, 1.)
# don't display alert banner when awareness is recovering and has cleared orange
if self.awareness > self.threshold_prompt:
return
standstill_exemption = standstill and self.awareness - self.step_change <= self.threshold_prompt
certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected
if certainly_distracted or maybe_distracted:
# should always be counting if distracted unless at standstill and reaching orange
if not standstill_exemption:
self.awareness = max(self.awareness - self.step_change, -0.1)
alert = None
if self.awareness <= 0.:
# terminal red alert: disengagement required
alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive
self.terminal_time += 1
if awareness_prev > 0.:
self.terminal_alert_cnt += 1
elif self.awareness <= self.threshold_prompt:
# prompt orange alert
alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
elif self.awareness <= self.threshold_pre:
# pre green alert
alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
if alert is not None:
events.add(alert)
def thermald_thread():
pm = messaging.PubMaster(['deviceState'])
pandaState_timeout = int(1000 * 2.5 *
DT_TRML) # 2.5x the expected pandaState frequency
pandaState_sock = messaging.sub_sock('pandaState',
timeout=pandaState_timeout)
location_sock = messaging.sub_sock('gpsLocationExternal')
managerState_sock = messaging.sub_sock('managerState', conflate=True)
fan_speed = 0
count = 0
startup_conditions = {
"ignition": False,
}
startup_conditions_prev = startup_conditions.copy()
off_ts = None
started_ts = None
started_seen = False
thermal_status = ThermalStatus.green
usb_power = True
current_branch = get_git_branch()
network_type = NetworkType.none
network_strength = NetworkStrength.unknown
current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
cpu_temp_filter = FirstOrderFilter(0., CPU_TEMP_TAU, DT_TRML)
pandaState_prev = None
charging_disabled = False
should_start_prev = False
handle_fan = None
is_uno = False
ui_running_prev = False
params = Params()
power_monitor = PowerMonitoring()
no_panda_cnt = 0
thermal_config = HARDWARE.get_thermal_config()
# CPR3 logging
if EON:
base_path = "/sys/kernel/debug/cpr3-regulator/"
cpr_files = [p for p in Path(base_path).glob("**/*") if p.is_file()]
cpr_data = {}
for cf in cpr_files:
with open(cf, "r") as f:
try:
cpr_data[str(cf)] = f.read().strip()
except Exception:
pass
ts_last_ip = 0
ip_addr = '255.255.255.255'
# sound trigger
sound_trigger = 1
opkrAutoShutdown = 0
shutdown_trigger = 1
is_openpilot_view_enabled = 0
env = dict(os.environ)
env['LD_LIBRARY_PATH'] = mediaplayer
getoff_alert = params.get('OpkrEnableGetoffAlert') == b'1'
hotspot_on_boot = params.get('OpkrHotspotOnBoot') == b'1'
hotspot_run = False
if int(params.get('OpkrAutoShutdown')) == 0:
opkrAutoShutdown = 0
elif int(params.get('OpkrAutoShutdown')) == 1:
opkrAutoShutdown = 5
elif int(params.get('OpkrAutoShutdown')) == 2:
opkrAutoShutdown = 30
elif int(params.get('OpkrAutoShutdown')) == 3:
opkrAutoShutdown = 60
elif int(params.get('OpkrAutoShutdown')) == 4:
opkrAutoShutdown = 180
elif int(params.get('OpkrAutoShutdown')) == 5:
opkrAutoShutdown = 300
elif int(params.get('OpkrAutoShutdown')) == 6:
opkrAutoShutdown = 600
elif int(params.get('OpkrAutoShutdown')) == 7:
opkrAutoShutdown = 1800
elif int(params.get('OpkrAutoShutdown')) == 8:
opkrAutoShutdown = 3600
elif int(params.get('OpkrAutoShutdown')) == 9:
opkrAutoShutdown = 10800
else:
opkrAutoShutdown = 18000
while 1:
ts = sec_since_boot()
pandaState = messaging.recv_sock(pandaState_sock, wait=True)
msg = read_thermal(thermal_config)
if pandaState is not None:
usb_power = pandaState.pandaState.usbPowerMode != log.PandaState.UsbPowerMode.client
# If we lose connection to the panda, wait 5 seconds before going offroad
if pandaState.pandaState.pandaType == log.PandaState.PandaType.unknown:
no_panda_cnt += 1
if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
if startup_conditions["ignition"]:
cloudlog.error("Lost panda connection while onroad")
startup_conditions["ignition"] = False
shutdown_trigger = 1
else:
no_panda_cnt = 0
startup_conditions[
"ignition"] = pandaState.pandaState.ignitionLine or pandaState.pandaState.ignitionCan
sound_trigger == 1
#startup_conditions["hardware_supported"] = pandaState.pandaState.pandaType not in [log.PandaState.PandaType.whitePanda,
# log.PandaState.PandaType.greyPanda]
#set_offroad_alert_if_changed("Offroad_HardwareUnsupported", not startup_conditions["hardware_supported"])
# Setup fan handler on first connect to panda
if handle_fan is None and pandaState.pandaState.pandaType != log.PandaState.PandaType.unknown:
is_uno = pandaState.pandaState.pandaType == log.PandaState.PandaType.uno
if (not EON) or is_uno:
cloudlog.info("Setting up UNO fan handler")
handle_fan = handle_fan_uno
else:
cloudlog.info("Setting up EON fan handler")
setup_eon_fan()
handle_fan = handle_fan_eon
# Handle disconnect
if pandaState_prev is not None:
if pandaState.pandaState.pandaType == log.PandaState.PandaType.unknown and \
pandaState_prev.pandaState.pandaType != log.PandaState.PandaType.unknown:
params.panda_disconnect()
pandaState_prev = pandaState
elif int(params.get("IsOpenpilotViewEnabled")) == 1 and int(
params.get("IsDriverViewEnabled")
) == 0 and is_openpilot_view_enabled == 0:
is_openpilot_view_enabled = 1
startup_conditions["ignition"] = True
elif int(params.get("IsOpenpilotViewEnabled")) == 0 and int(
params.get("IsDriverViewEnabled")
) == 0 and is_openpilot_view_enabled == 1:
shutdown_trigger = 0
sound_trigger == 0
is_openpilot_view_enabled = 0
startup_conditions["ignition"] = False
# get_network_type is an expensive call. update every 10s
if (count % int(10. / DT_TRML)) == 0:
try:
network_type = HARDWARE.get_network_type()
network_strength = HARDWARE.get_network_strength(network_type)
except Exception:
cloudlog.exception("Error getting network status")
msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)
msg.deviceState.memoryUsagePercent = int(
round(psutil.virtual_memory().percent))
msg.deviceState.cpuUsagePercent = int(round(psutil.cpu_percent()))
msg.deviceState.networkType = network_type
msg.deviceState.networkStrength = network_strength
msg.deviceState.batteryPercent = HARDWARE.get_battery_capacity()
msg.deviceState.batteryStatus = HARDWARE.get_battery_status()
msg.deviceState.batteryCurrent = HARDWARE.get_battery_current()
msg.deviceState.batteryVoltage = HARDWARE.get_battery_voltage()
msg.deviceState.usbOnline = HARDWARE.get_usb_present()
# Fake battery levels on uno for frame
if (not EON) or is_uno:
msg.deviceState.batteryPercent = 100
msg.deviceState.batteryStatus = "Charging"
msg.deviceState.batteryTempC = 0
# update ip every 10 seconds
ts = sec_since_boot()
if ts - ts_last_ip >= 10.:
try:
result = subprocess.check_output(["ifconfig", "wlan0"],
encoding='utf8') # pylint: disable=unexpected-keyword-arg
ip_addr = re.findall(r"inet addr:((\d+\.){3}\d+)",
result)[0][0]
except:
ip_addr = 'N/A'
ts_last_ip = ts
msg.deviceState.ipAddr = ip_addr
current_filter.update(msg.deviceState.batteryCurrent / 1e6)
# TODO: add car battery voltage check
max_cpu_temp = cpu_temp_filter.update(max(msg.deviceState.cpuTempC))
max_comp_temp = max(max_cpu_temp, msg.deviceState.memoryTempC,
max(msg.deviceState.gpuTempC))
bat_temp = msg.deviceState.batteryTempC
if handle_fan is not None:
fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed,
startup_conditions["ignition"])
msg.deviceState.fanSpeedPercentDesired = fan_speed
# If device is offroad we want to cool down before going onroad
# since going onroad increases load and can make temps go over 107
# We only do this if there is a relay that prevents the car from faulting
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))
if max_cpu_temp > 107. or bat_temp >= 63. or (is_offroad_for_5_min
and max_cpu_temp > 70.0):
# onroad not allowed
thermal_status = ThermalStatus.danger
elif max_comp_temp > 96.0 or bat_temp > 60.:
# hysteresis between onroad not allowed and engage not allowed
thermal_status = clip(thermal_status, ThermalStatus.red,
ThermalStatus.danger)
elif max_cpu_temp > 94.0:
# 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:
thermal_status = ThermalStatus.green # default to good condition
# **** starting logic ****
# Check for last update time and display alerts if needed
now = datetime.datetime.utcnow()
# show invalid date/time alert
startup_conditions["time_valid"] = True if (
(now.year > 2020) or (now.year == 2020 and now.month >= 10)
) else True # set True for battery less EON otherwise, set False.
set_offroad_alert_if_changed("Offroad_InvalidTime",
(not startup_conditions["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)
# last_update_exception = params.get("LastUpdateException", encoding='utf8')
# if update_failed_count > 15 and last_update_exception is not None:
# if current_branch in ["release2", "dashcam"]:
# extra_text = "Ensure the software is correctly installed"
# else:
# extra_text = last_update_exception
# set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
# set_offroad_alert_if_changed("Offroad_UpdateFailed", True, extra_text=extra_text)
# elif dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
# set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", True)
# elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
# remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
# set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining_time} days.")
# else:
# set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
#startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get("DisableUpdates") == b"1"
startup_conditions["not_uninstalling"] = not params.get(
"DoUninstall") == b"1"
startup_conditions["accepted_terms"] = params.get(
"HasAcceptedTerms") == terms_version
panda_signature = params.get("PandaFirmware")
startup_conditions["fw_version_match"] = (panda_signature is None) or (
panda_signature == FW_SIGNATURE
) # don't show alert is no panda is connected (None)
set_offroad_alert_if_changed(
"Offroad_PandaFirmwareMismatch",
(not startup_conditions["fw_version_match"]))
# with 2% left, we killall, otherwise the phone will take a long time to boot
startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
(current_branch in ['dashcam', 'dashcam-staging'])
startup_conditions["not_driver_view"] = not params.get(
"IsDriverViewEnabled") == b"1"
startup_conditions["not_taking_snapshot"] = not params.get(
"IsTakingSnapshot") == b"1"
# 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
startup_conditions[
"device_temp_good"] = thermal_status < ThermalStatus.danger
set_offroad_alert_if_changed(
"Offroad_TemperatureTooHigh",
(not startup_conditions["device_temp_good"]))
# Handle offroad/onroad transition
should_start = all(startup_conditions.values())
if should_start:
if not should_start_prev:
params.delete("IsOffroad")
if TICI and DISABLE_LTE_ONROAD:
os.system("sudo systemctl stop --no-block lte")
off_ts = None
if started_ts is None:
started_ts = sec_since_boot()
started_seen = True
else:
if startup_conditions["ignition"] and (startup_conditions !=
startup_conditions_prev):
cloudlog.event("Startup blocked",
startup_conditions=startup_conditions)
if should_start_prev or (count == 0):
params.put("IsOffroad", "1")
if TICI and DISABLE_LTE_ONROAD:
os.system("sudo systemctl start --no-block lte")
started_ts = None
if off_ts is None:
off_ts = sec_since_boot()
if shutdown_trigger == 1 and sound_trigger == 1 and msg.deviceState.batteryStatus == "Discharging" and started_seen and (
sec_since_boot() - off_ts) > 1 and getoff_alert:
subprocess.Popen([
mediaplayer + 'mediaplayer',
'/data/openpilot/selfdrive/assets/sounds/eondetach.wav'
],
shell=False,
stdin=None,
stdout=None,
stderr=None,
env=env,
close_fds=True)
sound_trigger = 0
# 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 shutdown_trigger == 1 and msg.deviceState.batteryStatus == "Discharging" and \
started_seen and opkrAutoShutdown and (sec_since_boot() - off_ts) > opkrAutoShutdown and not os.path.isfile(pandaflash_ongoing):
os.system('LD_LIBRARY_PATH="" svc power shutdown')
charging_disabled = check_car_battery_voltage(should_start, pandaState,
charging_disabled, msg)
if msg.deviceState.batteryCurrent > 0:
msg.deviceState.batteryStatus = "Discharging"
else:
msg.deviceState.batteryStatus = "Charging"
msg.deviceState.chargingDisabled = charging_disabled
prebuiltlet = Params().get('PutPrebuiltOn') == b'1'
if not os.path.isfile(prebuiltfile) and prebuiltlet:
os.system("cd /data/openpilot; touch prebuilt")
elif os.path.isfile(prebuiltfile) and not prebuiltlet:
os.system("cd /data/openpilot; rm -f prebuilt")
sshkeylet = Params().get('OpkrSSHLegacy') == b'1'
if not os.path.isfile(sshkeyfile) and sshkeylet:
os.system(
"cp -f /data/openpilot/selfdrive/assets/addon/key/GithubSshKeys_legacy /data/params/d/GithubSshKeys; chmod 600 /data/params/d/GithubSshKeys; touch /data/public_key"
)
elif os.path.isfile(sshkeyfile) and not sshkeylet:
os.system(
"cp -f /data/openpilot/selfdrive/assets/addon/key/GithubSshKeys_new /data/params/d/GithubSshKeys; chmod 600 /data/params/d/GithubSshKeys; rm -f /data/public_key"
)
# opkr hotspot
if hotspot_on_boot and not hotspot_run and sec_since_boot() > 60:
os.system("service call wifi 37 i32 0 i32 1 &")
hotspot_run = True
# Offroad power monitoring
power_monitor.calculate(pandaState)
msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
msg.deviceState.carBatteryCapacityUwh = max(
0, power_monitor.get_car_battery_capacity())
# # Check if we need to disable charging (handled by boardd)
# msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(pandaState, off_ts)
#
# # Check if we need to shut down
# if power_monitor.should_shutdown(pandaState, off_ts, started_seen):
# cloudlog.info(f"shutting device down, offroad since {off_ts}")
# # TODO: add function for blocking cloudlog instead of sleep
# time.sleep(10)
# HARDWARE.shutdown()
# If UI has crashed, set the brightness to reasonable non-zero value
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))
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 per minute
if (count % int(60. / DT_TRML)) == 0:
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 thermald_thread():
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')
fan_speed = 0
count = 0
startup_conditions = {
"ignition": False,
}
startup_conditions_prev = startup_conditions.copy()
off_ts = None
started_ts = None
started_seen = False
thermal_status = ThermalStatus.green
usb_power = True
current_branch = get_git_branch()
network_type = NetworkType.none
network_strength = NetworkStrength.unknown
current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
cpu_temp_filter = FirstOrderFilter(0., CPU_TEMP_TAU, DT_TRML)
health_prev = None
charging_disabled = False
should_start_prev = False
handle_fan = None
is_uno = False
params = Params()
pm = PowerMonitoring()
no_panda_cnt = 0
thermal_config = get_thermal_config()
ts_last_ip = 0
ip_addr = '255.255.255.255'
# sound trigger
sound_trigger = 1
opkrAutoShutdown = 0
shutdown_trigger = 1
is_openpilot_view_enabled = 0
env = dict(os.environ)
env['LD_LIBRARY_PATH'] = mediaplayer
getoff_alert = Params().get('OpkrEnableGetoffAlert') == b'1'
if int(params.get('OpkrAutoShutdown')) == 0:
opkrAutoShutdown = 0
elif int(params.get('OpkrAutoShutdown')) == 1:
opkrAutoShutdown = 5
elif int(params.get('OpkrAutoShutdown')) == 2:
opkrAutoShutdown = 30
elif int(params.get('OpkrAutoShutdown')) == 3:
opkrAutoShutdown = 60
elif int(params.get('OpkrAutoShutdown')) == 4:
opkrAutoShutdown = 180
elif int(params.get('OpkrAutoShutdown')) == 5:
opkrAutoShutdown = 300
elif int(params.get('OpkrAutoShutdown')) == 6:
opkrAutoShutdown = 600
elif int(params.get('OpkrAutoShutdown')) == 7:
opkrAutoShutdown = 1800
elif int(params.get('OpkrAutoShutdown')) == 8:
opkrAutoShutdown = 3600
elif int(params.get('OpkrAutoShutdown')) == 9:
opkrAutoShutdown = 10800
else:
opkrAutoShutdown = 18000
lateral_control_method = int(params.get("LateralControlMethod"))
lateral_control_method_prev = int(params.get("LateralControlMethod"))
lateral_control_method_cnt = 0
lateral_control_method_trigger = 0
while 1:
ts = sec_since_boot()
health = messaging.recv_sock(health_sock, wait=True)
location = messaging.recv_sock(location_sock)
location = location.gpsLocation if location else None
msg = read_thermal(thermal_config)
if health is not None:
usb_power = health.health.usbPowerMode != log.HealthData.UsbPowerMode.client
# If we lose connection to the panda, wait 5 seconds before going offroad
lateral_control_method = int(params.get("LateralControlMethod"))
if lateral_control_method != lateral_control_method_prev and lateral_control_method_trigger == 0:
startup_conditions["ignition"] = False
lateral_control_method_trigger = 1
elif lateral_control_method != lateral_control_method_prev:
lateral_control_method_cnt += 1
if lateral_control_method_cnt > 1 / DT_TRML:
lateral_control_method_prev = lateral_control_method
elif health.health.hwType == log.HealthData.HwType.unknown:
no_panda_cnt += 1
if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
if startup_conditions["ignition"]:
cloudlog.error("Lost panda connection while onroad")
startup_conditions["ignition"] = False
shutdown_trigger = 1
else:
no_panda_cnt = 0
startup_conditions["ignition"] = health.health.ignitionLine or health.health.ignitionCan
sound_trigger == 1
lateral_control_method_cnt = 0
lateral_control_method_trigger = 0
# Setup fan handler on first connect to panda
if handle_fan is None and health.health.hwType != log.HealthData.HwType.unknown:
is_uno = health.health.hwType == log.HealthData.HwType.uno
if (not EON) or is_uno:
cloudlog.info("Setting up UNO fan handler")
handle_fan = handle_fan_uno
else:
cloudlog.info("Setting up EON fan handler")
setup_eon_fan()
handle_fan = handle_fan_eon
# Handle disconnect
if health_prev is not None:
if health.health.hwType == log.HealthData.HwType.unknown and \
health_prev.health.hwType != log.HealthData.HwType.unknown:
params.panda_disconnect()
health_prev = health
elif int(params.get("IsOpenpilotViewEnabled")) == 1 and int(params.get("IsDriverViewEnabled")) == 0 and is_openpilot_view_enabled == 0:
is_openpilot_view_enabled = 1
startup_conditions["ignition"] = True
elif int(params.get("IsOpenpilotViewEnabled")) == 0 and int(params.get("IsDriverViewEnabled")) == 0 and is_openpilot_view_enabled == 1:
shutdown_trigger = 0
sound_trigger == 0
is_openpilot_view_enabled = 0
startup_conditions["ignition"] = False
# get_network_type is an expensive call. update every 10s
if (count % int(10. / DT_TRML)) == 0:
try:
network_type = HARDWARE.get_network_type()
network_strength = HARDWARE.get_network_strength(network_type)
except Exception:
cloudlog.exception("Error getting network status")
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
msg.thermal.networkStrength = network_strength
msg.thermal.batteryPercent = get_battery_capacity()
msg.thermal.batteryStatus = get_battery_status()
msg.thermal.batteryCurrent = get_battery_current()
msg.thermal.batteryVoltage = get_battery_voltage()
msg.thermal.usbOnline = get_usb_present()
# Fake battery levels on uno for frame
if (not EON) or is_uno:
msg.thermal.batteryPercent = 100
msg.thermal.batteryStatus = "Charging"
msg.thermal.bat = 0
# update ip every 10 seconds
ts = sec_since_boot()
if ts - ts_last_ip >= 10.:
try:
result = subprocess.check_output(["ifconfig", "wlan0"], encoding='utf8') # pylint: disable=unexpected-keyword-arg
ip_addr = re.findall(r"inet addr:((\d+\.){3}\d+)", result)[0][0]
except:
ip_addr = 'N/A'
ts_last_ip = ts
msg.thermal.ipAddr = ip_addr
current_filter.update(msg.thermal.batteryCurrent / 1e6)
# TODO: add car battery voltage check
max_cpu_temp = cpu_temp_filter.update(max(msg.thermal.cpu))
max_comp_temp = max(max_cpu_temp, msg.thermal.mem, max(msg.thermal.gpu))
bat_temp = msg.thermal.bat
if handle_fan is not None:
fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed, startup_conditions["ignition"])
msg.thermal.fanSpeed = fan_speed
# If device is offroad we want to cool down before going onroad
# since going onroad increases load and can make temps go over 107
# We only do this if there is a relay that prevents the car from faulting
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))
if max_cpu_temp > 107. or bat_temp >= 63. or (is_offroad_for_5_min and max_cpu_temp > 70.0):
# onroad not allowed
thermal_status = ThermalStatus.danger
elif max_comp_temp > 96.0 or bat_temp > 60.:
# hysteresis between onroad not allowed and engage not allowed
thermal_status = clip(thermal_status, ThermalStatus.red, ThermalStatus.danger)
elif max_cpu_temp > 94.0:
# 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.utcnow()
# show invalid date/time alert
startup_conditions["time_valid"] = now.year >= 2019
set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["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)
# last_update_exception = params.get("LastUpdateException", encoding='utf8')
#
# if update_failed_count > 15 and last_update_exception is not None:
# if current_branch in ["release2", "dashcam"]:
# extra_text = "Ensure the software is correctly installed"
# else:
# extra_text = last_update_exception
#
# set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
# set_offroad_alert_if_changed("Offroad_UpdateFailed", True, extra_text=extra_text)
# elif dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
# set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", True)
# elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
# remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
# set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining_time} days.")
# else:
# set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
startup_conditions["not_uninstalling"] = not params.get("DoUninstall") == b"1"
startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
panda_signature = params.get("PandaFirmware")
startup_conditions["fw_version_match"] = (panda_signature is None) or (panda_signature == FW_SIGNATURE) # don't show alert is no panda is connected (None)
set_offroad_alert_if_changed("Offroad_PandaFirmwareMismatch", (not startup_conditions["fw_version_match"]))
# with 2% left, we killall, otherwise the phone will take a long time to boot
startup_conditions["free_space"] = msg.thermal.freeSpace > 0.02
startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
(current_branch in ['dashcam', 'dashcam-staging'])
startup_conditions["not_driver_view"] = not params.get("IsDriverViewEnabled") == b"1"
startup_conditions["not_taking_snapshot"] = not params.get("IsTakingSnapshot") == b"1"
# 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
startup_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not startup_conditions["device_temp_good"]))
should_start = all(startup_conditions.values())
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 startup_conditions["ignition"] and (startup_conditions != startup_conditions_prev):
cloudlog.event("Startup blocked", startup_conditions=startup_conditions)
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')
if shutdown_trigger == 1 and sound_trigger == 1 and msg.thermal.batteryStatus == "Discharging" and started_seen and (sec_since_boot() - off_ts) > 1 and getoff_alert:
subprocess.Popen([mediaplayer + 'mediaplayer', '/data/openpilot/selfdrive/assets/sounds/eondetach.wav'], shell = False, stdin=None, stdout=None, stderr=None, env = env, close_fds=True)
sound_trigger = 0
# 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 shutdown_trigger == 1 and msg.thermal.batteryStatus == "Discharging" and \
started_seen and opkrAutoShutdown and (sec_since_boot() - off_ts) > opkrAutoShutdown and not os.path.isfile(pandaflash_ongoing):
os.system('LD_LIBRARY_PATH="" svc power shutdown')
charging_disabled = check_car_battery_voltage(should_start, health, charging_disabled, msg)
if msg.thermal.batteryCurrent > 0:
msg.thermal.batteryStatus = "Discharging"
else:
msg.thermal.batteryStatus = "Charging"
msg.thermal.chargingDisabled = charging_disabled
prebuiltlet = Params().get('PutPrebuiltOn') == b'1'
if not os.path.isfile(prebuiltfile) and prebuiltlet:
os.system("cd /data/openpilot; touch prebuilt")
elif os.path.isfile(prebuiltfile) and not prebuiltlet:
os.system("cd /data/openpilot; rm -f prebuilt")
# Offroad power monitoring
pm.calculate(health)
msg.thermal.offroadPowerUsage = pm.get_power_used()
msg.thermal.carBatteryCapacity = max(0, pm.get_car_battery_capacity())
# # Check if we need to disable charging (handled by boardd)
# msg.thermal.chargingDisabled = pm.should_disable_charging(health, off_ts)
#
# # Check if we need to shut down
# if pm.should_shutdown(health, off_ts, started_seen, LEON):
# cloudlog.info(f"shutting device down, offroad since {off_ts}")
# # TODO: add function for blocking cloudlog instead of sleep
# time.sleep(10)
# 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())
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 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 thermald_thread():
setup_eon_fan()
# prevent LEECO from undervoltage
BATT_PERC_OFF = 10 if LEON else 3
health_timeout = int(1000 * 2 *
DT_TRML) # 2x 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')
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
current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
health_prev = None
fw_version_match_prev = True
current_connectivity_alert = None
time_valid_prev = True
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
# loggerd is gated based on free space
avail = get_available_percent() / 100.0
# thermal message now also includes free space
msg.thermal.freeSpace = avail
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()))
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.
if health is not None and health.health.hwType == log.HealthData.HwType.uno:
fan_speed = handle_fan_uno(max_cpu_temp, bat_temp, fan_speed)
else:
fan_speed = handle_fan_eon(max_cpu_temp, bat_temp, fan_speed)
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
if dt.days > DAYS_NO_CONNECTIVITY_MAX:
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(DAYS_NO_CONNECTIVITY_MAX - dt.days)
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
fw_version = params.get("PandaFirmware", encoding="utf8")
fw_version_match = fw_version is None or fw_version.startswith(
FW_VERSION) # don't show alert is no panda is connected (None)
should_start = ignition
# have we seen a panda?
passive = (params.get("Passive") == "1")
# 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 (
passive or 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
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:
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:
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
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
class LanePlanner:
def __init__(self, wide_camera=False):
self.ll_t = np.zeros((TRAJECTORY_SIZE, ))
self.ll_x = np.zeros((TRAJECTORY_SIZE, ))
self.lll_y = np.zeros((TRAJECTORY_SIZE, ))
self.rll_y = np.zeros((TRAJECTORY_SIZE, ))
self.lane_width_estimate = FirstOrderFilter(3.7, 9.95, DT_MDL)
self.lane_width_certainty = FirstOrderFilter(1.0, 0.95, DT_MDL)
self.lane_width = 3.7
self.lll_prob = 0.
self.rll_prob = 0.
self.d_prob = 0.
self.lll_std = 0.
self.rll_std = 0.
self.l_lane_change_prob = 0.
self.r_lane_change_prob = 0.
self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET
self.path_offset = -PATH_OFFSET if wide_camera else PATH_OFFSET
self.readings = []
self.frame = 0
self.wide_camera = wide_camera
def parse_model(self, md):
lane_lines = md.laneLines
if len(lane_lines) == 4 and len(lane_lines[0].t) == TRAJECTORY_SIZE:
self.ll_t = (np.array(lane_lines[1].t) +
np.array(lane_lines[2].t)) / 2
# left and right ll x is the same
self.ll_x = lane_lines[1].x
# only offset left and right lane lines; offsetting path does not make sense
self.lll_y = np.array(lane_lines[1].y) + self.camera_offset
self.rll_y = np.array(lane_lines[2].y) + self.camera_offset
self.lll_prob = md.laneLineProbs[1]
self.rll_prob = md.laneLineProbs[2]
self.lll_std = md.laneLineStds[1]
self.rll_std = md.laneLineStds[2]
desire_state = md.meta.desireState
if len(desire_state):
self.l_lane_change_prob = desire_state[
log.LateralPlan.Desire.laneChangeLeft]
self.r_lane_change_prob = desire_state[
log.LateralPlan.Desire.laneChangeRight]
def get_d_path(self, v_ego, path_t, path_xyz):
# Reduce reliance on lanelines that are too far apart or
# will be in a few seconds
path_xyz[:, 1] += self.path_offset
l_prob, r_prob = self.lll_prob, self.rll_prob
width_pts = self.rll_y - self.lll_y
prob_mods = []
for t_check in (0.0, 1.5, 3.0):
width_at_t = interp(t_check * (v_ego + 7), self.ll_x, width_pts)
prob_mods.append(interp(width_at_t, [4.0, 5.0], [1.0, 0.0]))
mod = min(prob_mods)
l_prob *= mod
r_prob *= mod
# Reduce reliance on uncertain lanelines
l_std_mod = interp(self.lll_std, [.15, .3], [1.0, 0.0])
r_std_mod = interp(self.rll_std, [.15, .3], [1.0, 0.0])
l_prob *= l_std_mod
r_prob *= r_std_mod
if ENABLE_ZORROBYTE:
# zorrobyte code
if l_prob > 0.5 and r_prob > 0.5:
self.frame += 1
if self.frame > 20:
self.frame = 0
current_lane_width = clip(
abs(self.rll_y[0] - self.lll_y[0]), 2.5, 3.5)
self.readings.append(current_lane_width)
self.lane_width = mean(self.readings)
if len(self.readings) >= 30:
self.readings.pop(0)
# zorrobyte
# Don't exit dive
if abs(self.rll_y[0] - self.lll_y[0]) > self.lane_width:
r_prob = r_prob / interp(l_prob, [0, 1], [1, 3])
else:
# Find current lanewidth
self.lane_width_certainty.update(l_prob * r_prob)
current_lane_width = abs(self.rll_y[0] - self.lll_y[0])
self.lane_width_estimate.update(current_lane_width)
speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5])
self.lane_width = self.lane_width_certainty.x * self.lane_width_estimate.x + \
(1 - self.lane_width_certainty.x) * speed_lane_width
clipped_lane_width = min(4.0, self.lane_width)
path_from_left_lane = self.lll_y + clipped_lane_width / 2.0
path_from_right_lane = self.rll_y - clipped_lane_width / 2.0
self.d_prob = l_prob + r_prob - l_prob * r_prob
# neokii
if ENABLE_INC_LANE_PROB and self.d_prob > 0.65:
self.d_prob = min(self.d_prob * 1.3, 1.0)
lane_path_y = (l_prob * path_from_left_lane + r_prob *
path_from_right_lane) / (l_prob + r_prob + 0.0001)
safe_idxs = np.isfinite(self.ll_t)
if safe_idxs[0]:
lane_path_y_interp = np.interp(path_t, self.ll_t[safe_idxs],
lane_path_y[safe_idxs])
path_xyz[:, 1] = self.d_prob * lane_path_y_interp + (
1.0 - self.d_prob) * path_xyz[:, 1]
else:
cloudlog.warning("Lateral mpc - NaNs in laneline times, ignoring")
return path_xyz
def thermald_thread():
setup_eon_fan()
# prevent LEECO from undervoltage
BATT_PERC_OFF = 10 if LEON else 15
# now loop
context = zmq.Context()
thermal_sock = messaging.pub_sock(context, service_list['thermal'].port)
health_sock = messaging.sub_sock(context, service_list['health'].port)
location_sock = messaging.sub_sock(context,
service_list['gpsLocation'].port)
fan_speed = 0
count = 0
off_ts = None
started_ts = None
ignition_seen = False
started_seen = False
passive_starter = LocationStarter()
thermal_status = ThermalStatus.green
health_sock.RCVTIMEO = 1500
current_filter = FirstOrderFilter(0., CURRENT_TAU, 1.)
# Make sure charging is enabled
charging_disabled = False
os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
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()
# loggerd is gated based on free space
statvfs = os.statvfs(ROOT)
avail = (statvfs.f_bavail * 1.0) / statvfs.f_blocks
# thermal message now also includes free space
msg.thermal.freeSpace = avail
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/online") as f:
msg.thermal.usbOnline = bool(int(f.read()))
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)
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 > 95. or bat_temp > 60.:
# hysteresis between onroad not allowed and engage not allowed
thermal_status = clip(thermal_status, ThermalStatus.red,
ThermalStatus.danger)
elif max_cpu_temp > 90.0:
# hysteresis between engage not allowed and uploader not allowed
thermal_status = clip(thermal_status, ThermalStatus.yellow,
ThermalStatus.red)
elif max_cpu_temp > 85.0:
# 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 ****
# start constellation of processes when the car starts
ignition = health is not None and health.health.started
ignition_seen = ignition_seen or ignition
# Oldcar camry ignition wire is always hot, so instead sense ignition when voltage greater than 13V
#ignition on ~ 11.7-12.5V
#ignition off ~ 13.2-13.7V
# add voltage check for ignition
if not ignition_seen and health is not None and health.health.voltage > 13000:
ignition = True
do_uninstall = params.get("DoUninstall") == "1"
accepted_terms = params.get("HasAcceptedTerms") == "1"
completed_training = params.get(
"CompletedTrainingVersion") == training_version
should_start = ignition
# have we seen a panda?
passive = (params.get("Passive") == "1")
# start on gps movement if we haven't seen ignition and are in passive mode
should_start = should_start or (not (
ignition_seen and health) # seen ignition and panda is connected
and passive and passive_starter.update(
started_ts, location))
# 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
# require usb power in passive mode
should_start = should_start and (not passive or msg.thermal.usbOnline)
# confirm we have completed training and aren't uninstalling
should_start = should_start and accepted_terms and (
passive or completed_training) and (not do_uninstall)
# 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:
# TODO: Add a better warning when this is happening
should_start = False
if should_start:
off_ts = None
if started_ts is None:
params.car_start()
started_ts = sec_since_boot()
started_seen = True
else:
started_ts = None
if off_ts is None:
off_ts = sec_since_boot()
# 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')
charging_disabled = check_car_battery_voltage(should_start, health,
charging_disabled, msg)
msg.thermal.chargingDisabled = charging_disabled
msg.thermal.chargingError = current_filter.x > 1.0 # if current is > 1A out, then charger might be off
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())
print msg
# report to server once per minute
if (count % 60) == 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 thermald_thread():
# prevent LEECO from undervoltage
BATT_PERC_OFF = int(kegman.conf['battPercOff'])
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
network_strength = NetworkStrength.unknown
current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
cpu_temp_filter = FirstOrderFilter(0., CPU_TEMP_TAU, DT_TRML)
health_prev = None
fw_version_match_prev = True
current_connectivity_alert = None
charging_disabled = False
time_valid_prev = True
should_start_prev = False
handle_fan = None
is_uno = False
params = Params()
pm = PowerMonitoring()
# ip addr
ts_last_ip = None
ts_last_update_vars = 0
ts_last_charging_ctrl = None
dp_last_modified = None
ip_addr = '255.255.255.255'
# sound trigger
sound_trigger = 1
env = dict(os.environ)
env['LD_LIBRARY_PATH'] = mediaplayer
while 1:
ts = sec_since_boot()
health = messaging.recv_sock(health_sock, wait=True)
location = messaging.recv_sock(location_sock)
location = location.gpsLocation if location else None
msg = read_thermal()
if health is not None:
usb_power = health.health.usbPowerMode != log.HealthData.UsbPowerMode.client
ignition = health.health.ignitionLine or health.health.ignitionCan
# Setup fan handler on first connect to panda
if handle_fan is None and health.health.hwType != log.HealthData.HwType.unknown:
is_uno = health.health.hwType == log.HealthData.HwType.uno
if is_uno or not ANDROID:
cloudlog.info("Setting up UNO fan handler")
handle_fan = handle_fan_uno
else:
cloudlog.info("Setting up EON fan handler")
setup_eon_fan()
handle_fan = handle_fan_eon
# Handle disconnect
if health_prev is not None:
if health.health.hwType == log.HealthData.HwType.unknown and \
health_prev.health.hwType != log.HealthData.HwType.unknown:
params.panda_disconnect()
health_prev = health
# get_network_type is an expensive call. update every 10s
if (count % int(10. / DT_TRML)) == 0:
try:
network_type = get_network_type()
network_strength = get_network_strength(network_type)
except Exception:
cloudlog.exception("Error getting network status")
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
msg.thermal.networkStrength = network_strength
msg.thermal.batteryPercent = get_battery_capacity()
msg.thermal.batteryStatus = get_battery_status()
msg.thermal.batteryCurrent = get_battery_current()
msg.thermal.batteryVoltage = get_battery_voltage()
msg.thermal.usbOnline = get_usb_present()
# Fake battery levels on uno for frame
if is_uno:
msg.thermal.batteryPercent = 100
msg.thermal.batteryStatus = "Charging"
# update ip every 10 seconds
ts = sec_since_boot()
if ts_last_ip is None or ts - ts_last_ip >= 10.:
try:
result = subprocess.check_output(["ifconfig", "wlan0"], encoding='utf8') # pylint: disable=unexpected-keyword-arg
ip_addr = re.findall(r"inet addr:((\d+\.){3}\d+)", result)[0][0]
except:
ip_addr = 'N/A'
ts_last_ip = ts
msg.thermal.ipAddr = ip_addr
current_filter.update(msg.thermal.batteryCurrent / 1e6)
# TODO: add car battery voltage check
max_cpu_temp = cpu_temp_filter.update(
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.
if handle_fan is not None:
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.utcnow()
# 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:
put_nonblocking("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")
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_viewing_driver = params.get("IsDriverViewEnabled") == b"1"
is_taking_snapshot = params.get("IsTakingSnapshot") == b"1"
should_start = should_start and (not is_taking_snapshot) and (not is_viewing_driver)
if fw_version_match and not fw_version_match_prev:
params.delete("Offroad_PandaFirmwareMismatch")
if not fw_version_match and fw_version_match_prev:
put_nonblocking("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:
put_nonblocking("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):
put_nonblocking("IsOffroad", "1")
started_ts = None
if off_ts is None:
off_ts = sec_since_boot()
sound_trigger = 1
os.system('echo powersave > /sys/class/devfreq/soc:qcom,cpubw/governor')
if sound_trigger == 1 and msg.thermal.batteryStatus == "Discharging" and started_seen and (sec_since_boot() - off_ts) > 2:
subprocess.Popen([mediaplayer + 'mediaplayer', '/data/openpilot/selfdrive/assets/sounds/eondetach.wav'], shell = False, stdin=None, stdout=None, stderr=None, env = env, close_fds=True)
sound_trigger = 0
# 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) > 38:
os.system('LD_LIBRARY_PATH="" svc power shutdown')
charging_disabled = check_car_battery_voltage(should_start, health, charging_disabled, msg)
if msg.thermal.batteryCurrent > 0:
msg.thermal.batteryStatus = "Discharging"
else:
msg.thermal.batteryStatus = "Charging"
msg.thermal.chargingDisabled = charging_disabled
# Offroad power monitoring
pm.calculate(health)
msg.thermal.offroadPowerUsage = pm.get_power_used()
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:
put_nonblocking("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
class LanePlanner:
def __init__(self, wide_camera=False):
self.ll_t = np.zeros((TRAJECTORY_SIZE, ))
self.ll_x = np.zeros((TRAJECTORY_SIZE, ))
self.lll_y = np.zeros((TRAJECTORY_SIZE, ))
self.rll_y = np.zeros((TRAJECTORY_SIZE, ))
self.lane_width_estimate = FirstOrderFilter(3.7, 9.95, DT_MDL)
self.lane_width_certainty = FirstOrderFilter(1.0, 0.95, DT_MDL)
self.lane_width = 3.7
self.lll_prob = 0.
self.rll_prob = 0.
self.d_prob = 0.
self.lll_std = 0.
self.rll_std = 0.
self.l_lane_change_prob = 0.
self.r_lane_change_prob = 0.
self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET
self.path_offset = -PATH_OFFSET if wide_camera else PATH_OFFSET
def parse_model(self, md):
if len(md.laneLines) == 4 and len(
md.laneLines[0].t) == TRAJECTORY_SIZE:
self.ll_t = (np.array(md.laneLines[1].t) +
np.array(md.laneLines[2].t)) / 2
# left and right ll x is the same
self.ll_x = md.laneLines[1].x
# only offset left and right lane lines; offsetting path does not make sense
self.lll_y = np.array(md.laneLines[1].y) - self.camera_offset
self.rll_y = np.array(md.laneLines[2].y) - self.camera_offset
self.lll_prob = md.laneLineProbs[1]
self.rll_prob = md.laneLineProbs[2]
self.lll_std = md.laneLineStds[1]
self.rll_std = md.laneLineStds[2]
if len(md.meta.desireState):
self.l_lane_change_prob = md.meta.desireState[
log.LateralPlan.Desire.laneChangeLeft]
self.r_lane_change_prob = md.meta.desireState[
log.LateralPlan.Desire.laneChangeRight]
def get_d_path(self, v_ego, path_t, path_xyz):
# Reduce reliance on lanelines that are too far apart or
# will be in a few seconds
path_xyz[:, 1] -= self.path_offset
l_prob, r_prob = self.lll_prob, self.rll_prob
width_pts = self.rll_y - self.lll_y
prob_mods = []
for t_check in [0.0, 1.5, 3.0]:
width_at_t = interp(t_check * (v_ego + 7), self.ll_x, width_pts)
prob_mods.append(interp(width_at_t, [4.0, 5.0], [1.0, 0.0]))
mod = min(prob_mods)
l_prob *= mod
r_prob *= mod
# Reduce reliance on uncertain lanelines
l_std_mod = interp(self.lll_std, [.15, .3], [1.0, 0.0])
r_std_mod = interp(self.rll_std, [.15, .3], [1.0, 0.0])
l_prob *= l_std_mod
r_prob *= r_std_mod
# Find current lanewidth
self.lane_width_certainty.update(l_prob * r_prob)
current_lane_width = abs(self.rll_y[0] - self.lll_y[0])
self.lane_width_estimate.update(current_lane_width)
speed_lane_width = interp(v_ego, [0., 31.], [2.5, 3.5])
self.lane_width = self.lane_width_certainty.x * self.lane_width_estimate.x + \
(1 - self.lane_width_certainty.x) * speed_lane_width
clipped_lane_width = min(4.0, self.lane_width)
path_from_left_lane = self.lll_y + clipped_lane_width / 2.0
path_from_right_lane = self.rll_y - clipped_lane_width / 2.0
self.d_prob = l_prob + r_prob - l_prob * r_prob
lane_path_y = (l_prob * path_from_left_lane + r_prob *
path_from_right_lane) / (l_prob + r_prob + 0.0001)
safe_idxs = np.isfinite(self.ll_t)
if safe_idxs[0]:
lane_path_y_interp = np.interp(path_t, self.ll_t[safe_idxs],
lane_path_y[safe_idxs])
path_xyz[:, 1] = self.d_prob * lane_path_y_interp + (
1.0 - self.d_prob) * path_xyz[:, 1]
else:
cloudlog.warning("Lateral mpc - NaNs in laneline times, ignoring")
return path_xyz
def thermald_thread():
setup_eon_fan()
# prevent LEECO from undervoltage
BATT_PERC_OFF = int(kegman.conf['battPercOff'])
# now loop
thermal_sock = messaging.pub_sock(service_list['thermal'].port)
health_sock = messaging.sub_sock(service_list['health'].port)
location_sock = messaging.sub_sock(service_list['gpsLocation'].port)
fan_speed = 0
count = 0
shutdown_count = 0
off_ts = None
started_ts = None
ignition_seen = False
#started_seen = False
thermal_status = ThermalStatus.green
health_sock.RCVTIMEO = 1500
current_filter = FirstOrderFilter(0., CURRENT_TAU, 1.)
services_killed = False
health_prev = None
# Make sure charging is enabled
charging_disabled = False
os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
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
# loggerd is gated based on free space
avail = get_available_percent() / 100.0
# thermal message now also includes free space
msg.thermal.freeSpace = avail
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()))
usb_online = msg.thermal.usbOnline
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)
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 > 95. or bat_temp > 60.:
# hysteresis between onroad not allowed and engage not allowed
thermal_status = clip(thermal_status, ThermalStatus.red,
ThermalStatus.danger)
elif max_cpu_temp > 90.0:
# hysteresis between engage not allowed and uploader not allowed
thermal_status = clip(thermal_status, ThermalStatus.yellow,
ThermalStatus.red)
elif max_cpu_temp > 85.0:
# 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 ****
# start constellation of processes when the car starts
ignition = health is not None and health.health.started
ignition_seen = ignition_seen or ignition
# add voltage check for ignition
if not ignition_seen and health is not None and health.health.voltage > 13500:
ignition = True
do_uninstall = params.get("DoUninstall") == "1"
accepted_terms = params.get("HasAcceptedTerms") == "1"
completed_training = params.get(
"CompletedTrainingVersion") == training_version
should_start = ignition
# have we seen a panda?
passive = (params.get("Passive") == "1")
# 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 (
passive or completed_training) and (not do_uninstall)
# 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:
# TODO: Add a better warning when this is happening
should_start = False
if should_start:
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:
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.batteryCurrent > 0 and \
sec_since_boot() > 180:
#started_seen and (sec_since_boot() - off_ts) > 60:
if msg.thermal.usbOnline:
# if there is power through the USB then shutting down just results in an immediate restart so kill services instead (E.g. Nidec)
kill_list = [
"updated", "gpsd", "logcatd", "pandad", "ui",
"uploader", "tombstoned", "logmessaged", "athena",
"ai.comma", "boardd"
]
# Kill processes to save battery cannot shutdown if plugged in because it will just restart after shutdown
for process_name in kill_list:
proc = subprocess.Popen(["pgrep", process_name],
stdout=subprocess.PIPE)
for pid in proc.stdout:
os.kill(int(pid), signal.SIGTERM)
else:
# if not just shut it down completely (E.g. Bosch or disconnected)
os.system('LD_LIBRARY_PATH="" svc power shutdown')
services_killed = True
if services_killed:
charging_disabled = True
else:
charging_disabled = check_car_battery_voltage(
should_start, health, charging_disabled, msg)
# need to force batteryStatus because after NEOS update for 0.5.7 this doesn't work properly
if msg.thermal.batteryCurrent > 0:
msg.thermal.batteryStatus = "Discharging"
else:
msg.thermal.batteryStatus = "Charging"
msg.thermal.chargingDisabled = charging_disabled
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())
print(msg)
# report to server once per minute
if (count % 60) == 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
# shut down EON if usb is not present after certain time
if not usb_online:
shutdown_count += 1
else:
shutdown_count = 0
if shutdown_count >= _SHUTDOWN_AT:
os.system('LD_LIBRARY_PATH="" svc power shutdown')
def thermald_thread(end_event, hw_queue):
pm = messaging.PubMaster(['deviceState'])
sm = messaging.SubMaster([
"peripheralState", "gpsLocationExternal", "controlsState",
"pandaStates"
],
poll=["pandaStates"])
count = 0
onroad_conditions: Dict[str, bool] = {
"ignition": False,
}
startup_conditions: Dict[str, bool] = {}
startup_conditions_prev: Dict[str, bool] = {}
off_ts = None
started_ts = None
started_seen = False
thermal_status = ThermalStatus.green
last_hw_state = HardwareState(
network_type=NetworkType.none,
network_metered=False,
network_strength=NetworkStrength.unknown,
network_info=None,
nvme_temps=[],
modem_temps=[],
)
current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
should_start_prev = False
in_car = False
engaged_prev = False
params = Params()
power_monitor = PowerMonitoring()
HARDWARE.initialize_hardware()
thermal_config = HARDWARE.get_thermal_config()
fan_controller = None
while not end_event.is_set():
sm.update(PANDA_STATES_TIMEOUT)
pandaStates = sm['pandaStates']
peripheralState = sm['peripheralState']
msg = read_thermal(thermal_config)
if sm.updated['pandaStates'] and len(pandaStates) > 0:
# Set ignition based on any panda connected
onroad_conditions["ignition"] = any(
ps.ignitionLine or ps.ignitionCan for ps in pandaStates
if ps.pandaType != log.PandaState.PandaType.unknown)
pandaState = pandaStates[0]
in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected
# Setup fan handler on first connect to panda
if fan_controller is None and peripheralState.pandaType != log.PandaState.PandaType.unknown:
if TICI:
fan_controller = TiciFanController()
elif (sec_since_boot() -
sm.rcv_time['pandaStates']) > DISCONNECT_TIMEOUT:
if onroad_conditions["ignition"]:
onroad_conditions["ignition"] = False
cloudlog.error("panda timed out onroad")
try:
last_hw_state = hw_queue.get_nowait()
except queue.Empty:
pass
msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)
msg.deviceState.memoryUsagePercent = int(
round(psutil.virtual_memory().percent))
msg.deviceState.cpuUsagePercent = [
int(round(n)) for n in psutil.cpu_percent(percpu=True)
]
msg.deviceState.gpuUsagePercent = int(
round(HARDWARE.get_gpu_usage_percent()))
msg.deviceState.networkType = last_hw_state.network_type
msg.deviceState.networkMetered = last_hw_state.network_metered
msg.deviceState.networkStrength = last_hw_state.network_strength
if last_hw_state.network_info is not None:
msg.deviceState.networkInfo = last_hw_state.network_info
msg.deviceState.nvmeTempC = last_hw_state.nvme_temps
msg.deviceState.modemTempC = last_hw_state.modem_temps
msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness(
)
msg.deviceState.usbOnline = HARDWARE.get_usb_present()
current_filter.update(msg.deviceState.batteryCurrent / 1e6)
max_comp_temp = temp_filter.update(
max(max(msg.deviceState.cpuTempC), msg.deviceState.memoryTempC,
max(msg.deviceState.gpuTempC)))
if fan_controller is not None:
msg.deviceState.fanSpeedPercentDesired = fan_controller.update(
max_comp_temp, onroad_conditions["ignition"])
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))
if is_offroad_for_5_min and max_comp_temp > OFFROAD_DANGER_TEMP:
# If device is offroad we want to cool down before going onroad
# since going onroad increases load and can make temps go over 107
thermal_status = ThermalStatus.danger
else:
current_band = THERMAL_BANDS[thermal_status]
band_idx = list(THERMAL_BANDS.keys()).index(thermal_status)
if current_band.min_temp is not None and max_comp_temp < current_band.min_temp:
thermal_status = list(THERMAL_BANDS.keys())[band_idx - 1]
elif current_band.max_temp is not None and max_comp_temp > current_band.max_temp:
thermal_status = list(THERMAL_BANDS.keys())[band_idx + 1]
# **** starting logic ****
# Ensure date/time are valid
now = datetime.datetime.utcnow()
startup_conditions["time_valid"] = (now.year > 2020) or (
now.year == 2020 and now.month >= 10)
set_offroad_alert_if_changed("Offroad_InvalidTime",
(not startup_conditions["time_valid"]))
startup_conditions["up_to_date"] = params.get(
"Offroad_ConnectivityNeeded") is None or params.get_bool(
"DisableUpdates") or params.get_bool("SnoozeUpdate")
startup_conditions["not_uninstalling"] = not params.get_bool(
"DoUninstall")
startup_conditions["accepted_terms"] = params.get(
"HasAcceptedTerms") == terms_version
# with 2% left, we killall, otherwise the phone will take a long time to boot
startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
params.get_bool("Passive")
startup_conditions["not_driver_view"] = not params.get_bool(
"IsDriverViewEnabled")
startup_conditions["not_taking_snapshot"] = not params.get_bool(
"IsTakingSnapshot")
# 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
onroad_conditions[
"device_temp_good"] = thermal_status < ThermalStatus.danger
set_offroad_alert_if_changed(
"Offroad_TemperatureTooHigh",
(not onroad_conditions["device_temp_good"]))
# TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
if TICI:
if not os.path.isfile("/persist/comma/living-in-the-moment"):
if not Path("/data/media").is_mount():
set_offroad_alert_if_changed("Offroad_StorageMissing",
True)
else:
# check for bad NVMe
try:
with open("/sys/block/nvme0n1/device/model") as f:
model = f.read().strip()
if not model.startswith(
"Samsung SSD 980") and params.get(
"Offroad_BadNvme") is None:
set_offroad_alert_if_changed(
"Offroad_BadNvme", True)
cloudlog.event("Unsupported NVMe",
model=model,
error=True)
except Exception:
pass
# Handle offroad/onroad transition
should_start = all(onroad_conditions.values())
if started_ts is None:
should_start = should_start and all(startup_conditions.values())
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"<3>[thermald] engaged: {engaged}\n")
except Exception:
pass
if should_start:
off_ts = None
if started_ts is None:
started_ts = sec_since_boot()
started_seen = True
else:
if onroad_conditions["ignition"] and (startup_conditions !=
startup_conditions_prev):
cloudlog.event("Startup blocked",
startup_conditions=startup_conditions,
onroad_conditions=onroad_conditions)
started_ts = None
if off_ts is None:
off_ts = sec_since_boot()
# Offroad power monitoring
power_monitor.calculate(peripheralState, onroad_conditions["ignition"])
msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
msg.deviceState.carBatteryCapacityUwh = max(
0, power_monitor.get_car_battery_capacity())
current_power_draw = HARDWARE.get_current_power_draw() # pylint: disable=assignment-from-none
if current_power_draw is not None:
statlog.sample("power_draw", current_power_draw)
msg.deviceState.powerDrawW = current_power_draw
else:
msg.deviceState.powerDrawW = 0
# Check if we need to disable charging (handled by boardd)
msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(
onroad_conditions["ignition"], in_car, off_ts)
# Check if we need to shut down
if power_monitor.should_shutdown(peripheralState,
onroad_conditions["ignition"], in_car,
off_ts, started_seen):
cloudlog.warning(f"shutting device down, offroad since {off_ts}")
params.put_bool("DoShutdown", True)
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)
should_start_prev = should_start
startup_conditions_prev = startup_conditions.copy()
# Log to statsd
statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent)
statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent)
statlog.gauge("memory_usage_percent",
msg.deviceState.memoryUsagePercent)
for i, usage in enumerate(msg.deviceState.cpuUsagePercent):
statlog.gauge(f"cpu{i}_usage_percent", usage)
for i, temp in enumerate(msg.deviceState.cpuTempC):
statlog.gauge(f"cpu{i}_temperature", temp)
for i, temp in enumerate(msg.deviceState.gpuTempC):
statlog.gauge(f"gpu{i}_temperature", temp)
statlog.gauge("memory_temperature", msg.deviceState.memoryTempC)
statlog.gauge("ambient_temperature", msg.deviceState.ambientTempC)
for i, temp in enumerate(msg.deviceState.pmicTempC):
statlog.gauge(f"pmic{i}_temperature", temp)
for i, temp in enumerate(last_hw_state.nvme_temps):
statlog.gauge(f"nvme_temperature{i}", temp)
for i, temp in enumerate(last_hw_state.modem_temps):
statlog.gauge(f"modem_temperature{i}", temp)
statlog.gauge("fan_speed_percent_desired",
msg.deviceState.fanSpeedPercentDesired)
statlog.gauge("screen_brightness_percent",
msg.deviceState.screenBrightnessPercent)
# report to server once every 10 minutes
if (count % int(600. / DT_TRML)) == 0:
cloudlog.event(
"STATUS_PACKET",
count=count,
pandaStates=[
strip_deprecated_keys(p.to_dict()) for p in pandaStates
],
peripheralState=strip_deprecated_keys(
peripheralState.to_dict()),
location=(strip_deprecated_keys(
sm["gpsLocationExternal"].to_dict())
if sm.alive["gpsLocationExternal"] else None),
deviceState=strip_deprecated_keys(msg.to_dict()))
count += 1
def thermald_thread():
pm = messaging.PubMaster(['deviceState'])
pandaState_timeout = int(1000 * 2.5 *
DT_TRML) # 2.5x the expected pandaState frequency
pandaState_sock = messaging.sub_sock('pandaState',
timeout=pandaState_timeout)
location_sock = messaging.sub_sock('gpsLocationExternal')
managerState_sock = messaging.sub_sock('managerState', conflate=True)
fan_speed = 0
count = 0
startup_conditions = {
"ignition": False,
}
startup_conditions_prev = startup_conditions.copy()
off_ts = None
started_ts = None
started_seen = False
thermal_status = ThermalStatus.green
usb_power = True
current_branch = get_git_branch()
network_type = NetworkType.none
network_strength = NetworkStrength.unknown
current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
cpu_temp_filter = FirstOrderFilter(0., CPU_TEMP_TAU, DT_TRML)
pandaState_prev = None
should_start_prev = False
handle_fan = None
is_uno = False
ui_running_prev = False
params = Params()
power_monitor = PowerMonitoring()
no_panda_cnt = 0
thermal_config = HARDWARE.get_thermal_config()
# CPR3 logging
if EON:
base_path = "/sys/kernel/debug/cpr3-regulator/"
cpr_files = [p for p in Path(base_path).glob("**/*") if p.is_file()]
cpr_data = {}
for cf in cpr_files:
with open(cf, "r") as f:
try:
cpr_data[str(cf)] = f.read().strip()
except Exception:
pass
cloudlog.event("CPR", data=cpr_data)
while 1:
pandaState = messaging.recv_sock(pandaState_sock, wait=True)
msg = read_thermal(thermal_config)
if pandaState is not None:
usb_power = pandaState.pandaState.usbPowerMode != log.PandaState.UsbPowerMode.client
# If we lose connection to the panda, wait 5 seconds before going offroad
if pandaState.pandaState.pandaType == log.PandaState.PandaType.unknown:
no_panda_cnt += 1
if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
if startup_conditions["ignition"]:
cloudlog.error("Lost panda connection while onroad")
startup_conditions["ignition"] = False
else:
no_panda_cnt = 0
startup_conditions[
"ignition"] = pandaState.pandaState.ignitionLine or pandaState.pandaState.ignitionCan
startup_conditions[
"hardware_supported"] = pandaState.pandaState.pandaType not in [
log.PandaState.PandaType.whitePanda,
log.PandaState.PandaType.greyPanda
]
set_offroad_alert_if_changed(
"Offroad_HardwareUnsupported",
not startup_conditions["hardware_supported"])
# Setup fan handler on first connect to panda
if handle_fan is None and pandaState.pandaState.pandaType != log.PandaState.PandaType.unknown:
is_uno = pandaState.pandaState.pandaType == log.PandaState.PandaType.uno
if (not EON) or is_uno:
cloudlog.info("Setting up UNO fan handler")
handle_fan = handle_fan_uno
else:
cloudlog.info("Setting up EON fan handler")
setup_eon_fan()
handle_fan = handle_fan_eon
# Handle disconnect
if pandaState_prev is not None:
if pandaState.pandaState.pandaType == log.PandaState.PandaType.unknown and \
pandaState_prev.pandaState.pandaType != log.PandaState.PandaType.unknown:
params.panda_disconnect()
pandaState_prev = pandaState
# get_network_type is an expensive call. update every 10s
if (count % int(10. / DT_TRML)) == 0:
try:
network_type = HARDWARE.get_network_type()
network_strength = HARDWARE.get_network_strength(network_type)
except Exception:
cloudlog.exception("Error getting network status")
msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)
msg.deviceState.memoryUsagePercent = int(
round(psutil.virtual_memory().percent))
msg.deviceState.cpuUsagePercent = int(round(psutil.cpu_percent()))
msg.deviceState.networkType = network_type
msg.deviceState.networkStrength = network_strength
msg.deviceState.batteryPercent = HARDWARE.get_battery_capacity()
msg.deviceState.batteryStatus = HARDWARE.get_battery_status()
msg.deviceState.batteryCurrent = HARDWARE.get_battery_current()
msg.deviceState.batteryVoltage = HARDWARE.get_battery_voltage()
msg.deviceState.usbOnline = HARDWARE.get_usb_present()
# Fake battery levels on uno for frame
if (not EON) or is_uno:
msg.deviceState.batteryPercent = 100
msg.deviceState.batteryStatus = "Charging"
msg.deviceState.batteryTempC = 0
current_filter.update(msg.deviceState.batteryCurrent / 1e6)
# TODO: add car battery voltage check
max_cpu_temp = cpu_temp_filter.update(max(msg.deviceState.cpuTempC))
max_comp_temp = max(max_cpu_temp, msg.deviceState.memoryTempC,
max(msg.deviceState.gpuTempC))
bat_temp = msg.deviceState.batteryTempC
if handle_fan is not None:
fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed,
startup_conditions["ignition"])
msg.deviceState.fanSpeedPercentDesired = fan_speed
# If device is offroad we want to cool down before going onroad
# since going onroad increases load and can make temps go over 107
# We only do this if there is a relay that prevents the car from faulting
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))
if max_cpu_temp > 107. or bat_temp >= 63. or (is_offroad_for_5_min
and max_cpu_temp > 70.0):
# onroad not allowed
thermal_status = ThermalStatus.danger
elif max_comp_temp > 96.0 or bat_temp > 60.:
# hysteresis between onroad not allowed and engage not allowed
thermal_status = clip(thermal_status, ThermalStatus.red,
ThermalStatus.danger)
elif max_cpu_temp > 94.0:
# 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:
thermal_status = ThermalStatus.green # default to good condition
# **** starting logic ****
# Check for last update time and display alerts if needed
now = datetime.datetime.utcnow()
# show invalid date/time alert
startup_conditions["time_valid"] = (now.year > 2020) or (
now.year == 2020 and now.month >= 10)
set_offroad_alert_if_changed("Offroad_InvalidTime",
(not startup_conditions["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)
last_update_exception = params.get("LastUpdateException",
encoding='utf8')
if update_failed_count > 15 and last_update_exception is not None:
if current_branch in ["release2", "dashcam"]:
extra_text = "Ensure the software is correctly installed"
else:
extra_text = last_update_exception
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt",
False)
set_offroad_alert_if_changed("Offroad_UpdateFailed",
True,
extra_text=extra_text)
elif dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt",
False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", True)
elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt",
True,
extra_text=f"{remaining_time} days.")
else:
set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt",
False)
startup_conditions["up_to_date"] = params.get(
"Offroad_ConnectivityNeeded") is None or params.get_bool(
"DisableUpdates")
startup_conditions["not_uninstalling"] = not params.get_bool(
"DoUninstall")
startup_conditions["accepted_terms"] = params.get(
"HasAcceptedTerms") == terms_version
panda_signature = params.get("PandaFirmware")
startup_conditions["fw_version_match"] = (panda_signature is None) or (
panda_signature == FW_SIGNATURE
) # don't show alert is no panda is connected (None)
set_offroad_alert_if_changed(
"Offroad_PandaFirmwareMismatch",
(not startup_conditions["fw_version_match"]))
# with 2% left, we killall, otherwise the phone will take a long time to boot
startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
(current_branch in ['dashcam', 'dashcam-staging'])
startup_conditions["not_driver_view"] = not params.get_bool(
"IsDriverViewEnabled")
startup_conditions["not_taking_snapshot"] = not params.get_bool(
"IsTakingSnapshot")
# 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
startup_conditions[
"device_temp_good"] = thermal_status < ThermalStatus.danger
set_offroad_alert_if_changed(
"Offroad_TemperatureTooHigh",
(not startup_conditions["device_temp_good"]))
# Handle offroad/onroad transition
should_start = all(startup_conditions.values())
if should_start:
if not should_start_prev:
params.delete("IsOffroad")
if TICI and DISABLE_LTE_ONROAD:
os.system("sudo systemctl stop --no-block lte")
off_ts = None
if started_ts is None:
started_ts = sec_since_boot()
started_seen = True
else:
if startup_conditions["ignition"] and (startup_conditions !=
startup_conditions_prev):
cloudlog.event("Startup blocked",
startup_conditions=startup_conditions)
if should_start_prev or (count == 0):
params.put_bool("IsOffroad", True)
if TICI and DISABLE_LTE_ONROAD:
os.system("sudo systemctl start --no-block lte")
started_ts = None
if off_ts is None:
off_ts = sec_since_boot()
# Offroad power monitoring
power_monitor.calculate(pandaState)
msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
msg.deviceState.carBatteryCapacityUwh = max(
0, power_monitor.get_car_battery_capacity())
# Check if we need to disable charging (handled by boardd)
msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(
pandaState, off_ts)
# Check if we need to shut down
if power_monitor.should_shutdown(pandaState, off_ts, started_seen):
cloudlog.info(f"shutting device down, offroad since {off_ts}")
# TODO: add function for blocking cloudlog instead of sleep
time.sleep(10)
HARDWARE.shutdown()
# If UI has crashed, set the brightness to reasonable non-zero value
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))
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 per minute
if (count % int(60. / DT_TRML)) == 0:
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
class DriverStatus():
def __init__(self):
self.pose = DriverPose()
self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT and \
self.pose.yaw_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT
self.blink = DriverBlink()
self.awareness = 1.
self.awareness_active = 1.
self.driver_distracted = False
self.driver_distraction_filter = FirstOrderFilter(0., _DISTRACTED_FILTER_TS, DT_DMON)
self.face_detected = False
self.terminal_alert_cnt = 0
self.step_change = 0.
self.active_monitoring_mode = True
self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
self.is_rhd_region = False
self.is_rhd_region_checked = False
self._set_timers(active_monitoring=True)
def _set_timers(self, active_monitoring):
if self.active_monitoring_mode and self.awareness <= self.threshold_prompt:
if active_monitoring:
self.step_change = DT_CTRL / _DISTRACTED_TIME
else:
self.step_change = 0.
return # no exploit after orange alert
elif self.awareness <= 0.:
return
if active_monitoring:
# when falling back from passive mode to active mode, reset awareness to avoid false alert
if not self.active_monitoring_mode:
self.awareness = self.awareness_active
self.threshold_pre = _DISTRACTED_PRE_TIME_TILL_TERMINAL / _DISTRACTED_TIME
self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
self.step_change = DT_CTRL / _DISTRACTED_TIME
self.active_monitoring_mode = True
else:
if self.active_monitoring_mode:
self.awareness_active = self.awareness
self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME
self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME
self.step_change = DT_CTRL / _AWARENESS_TIME
self.active_monitoring_mode = False
def _is_driver_distracted(self, pose, blink):
if not self.pose_calibrated:
pitch_error = pose.pitch - _PITCH_NATURAL_OFFSET
yaw_error = pose.yaw - _YAW_NATURAL_OFFSET
# add positive pitch allowance
if pitch_error > 0.:
pitch_error = max(pitch_error - _PITCH_POS_ALLOWANCE, 0.)
else:
pitch_error = pose.pitch - self.pose.pitch_offseter.filtered_stat.mean()
yaw_error = pose.yaw - self.pose.yaw_offseter.filtered_stat.mean()
pitch_error *= _PITCH_WEIGHT
pose_metric = np.sqrt(yaw_error**2 + pitch_error**2)
if pose_metric > _METRIC_THRESHOLD:
return DistractedType.BAD_POSE
elif blink.left_blink>_BLINK_THRESHOLD and blink.right_blink>_BLINK_THRESHOLD:
return DistractedType.BAD_BLINK
else:
return DistractedType.NOT_DISTRACTED
def get_pose(self, driver_monitoring, cal_rpy, car_speed, op_engaged):
# 10 Hz
if len(driver_monitoring.faceOrientation) == 0 or len(driver_monitoring.facePosition) == 0:
return
self.pose.roll, self.pose.pitch, self.pose.yaw = head_orientation_from_descriptor(driver_monitoring.faceOrientation, driver_monitoring.facePosition, cal_rpy)
self.blink.left_blink = driver_monitoring.leftBlinkProb * (driver_monitoring.leftEyeProb>_EYE_THRESHOLD)
self.blink.right_blink = driver_monitoring.rightBlinkProb * (driver_monitoring.rightEyeProb>_EYE_THRESHOLD)
self.face_detected = driver_monitoring.faceProb > _FACE_THRESHOLD and not self.is_rhd_region
self.driver_distracted = self._is_driver_distracted(self.pose, self.blink)>0
# first order filters
self.driver_distraction_filter.update(self.driver_distracted)
# update offseter
# only update when driver is actively driving the car above a certain speed
if self.face_detected and car_speed>_POSE_CALIB_MIN_SPEED and not op_engaged:
self.pose.pitch_offseter.push_and_update(self.pose.pitch)
self.pose.yaw_offseter.push_and_update(self.pose.yaw)
self.pose_calibrated = self.pose.pitch_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT and \
self.pose.yaw_offseter.filtered_stat.n > _POSE_OFFSET_MIN_COUNT
self._set_timers(self.face_detected)
def update(self, events, driver_engaged, ctrl_active, standstill):
if (driver_engaged and self.awareness > 0) or not ctrl_active:
# reset only when on disengagement if red reached
self.awareness = 1.
self.awareness_active = 1.
return events
driver_attentive = self.driver_distraction_filter.x < 0.37
awareness_prev = self.awareness
if (driver_attentive and self.face_detected and self.awareness > 0):
# only restore awareness when paying attention and alert is not red
self.awareness = min(self.awareness + ((_RECOVERY_FACTOR_MAX-_RECOVERY_FACTOR_MIN)*(1.-self.awareness)+_RECOVERY_FACTOR_MIN)*self.step_change, 1.)
# don't display alert banner when awareness is recovering and has cleared orange
if self.awareness > self.threshold_prompt:
return events
# should always be counting if distracted unless at standstill and reaching orange
if (not self.face_detected or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected)) and \
not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
self.awareness = max(self.awareness - self.step_change, -0.1)
alert = None
if self.awareness <= 0.:
# terminal red alert: disengagement required
alert = 'driverDistracted' if self.active_monitoring_mode else 'driverUnresponsive'
if awareness_prev > 0.:
self.terminal_alert_cnt += 1
elif self.awareness <= self.threshold_prompt:
# prompt orange alert
alert = 'promptDriverDistracted' if self.active_monitoring_mode else 'promptDriverUnresponsive'
elif self.awareness <= self.threshold_pre:
# pre green alert
alert = 'preDriverDistracted' if self.active_monitoring_mode else 'preDriverUnresponsive'
if alert is not None:
events.append(create_event(alert, [ET.WARNING]))
return events
def thermald_thread():
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')
fan_speed = 0
count = 0
startup_conditions = {
"ignition": False,
}
startup_conditions_prev = startup_conditions.copy()
off_ts = None
started_ts = None
started_seen = False
thermal_status = ThermalStatus.green
usb_power = True
current_branch = get_git_branch()
network_type = NetworkType.none
network_strength = NetworkStrength.unknown
wifiIpAddress = 'N/A'
current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
cpu_temp_filter = FirstOrderFilter(0., CPU_TEMP_TAU, DT_TRML)
health_prev = None
should_start_prev = False
handle_fan = None
is_uno = False
params = Params()
pm = PowerMonitoring()
no_panda_cnt = 0
thermal_config = get_thermal_config()
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(thermal_config)
if health is not None:
usb_power = health.health.usbPowerMode != log.HealthData.UsbPowerMode.client
# If we lose connection to the panda, wait 5 seconds before going offroad
if health.health.hwType == log.HealthData.HwType.unknown:
no_panda_cnt += 1
if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
if startup_conditions["ignition"]:
cloudlog.error("Lost panda connection while onroad")
startup_conditions["ignition"] = False
else:
no_panda_cnt = 0
startup_conditions[
"ignition"] = health.health.ignitionLine or health.health.ignitionCan
# Setup fan handler on first connect to panda
if handle_fan is None and health.health.hwType != log.HealthData.HwType.unknown:
is_uno = health.health.hwType == log.HealthData.HwType.uno
if (not EON) or is_uno:
cloudlog.info("Setting up UNO fan handler")
handle_fan = handle_fan_uno
else:
cloudlog.info("Setting up EON fan handler")
setup_eon_fan()
handle_fan = handle_fan_eon
# Handle disconnect
if health_prev is not None:
if health.health.hwType == log.HealthData.HwType.unknown and \
health_prev.health.hwType != log.HealthData.HwType.unknown:
params.panda_disconnect()
health_prev = health
# get_network_type is an expensive call. update every 10s
if (count % int(10. / DT_TRML)) == 0:
try:
network_type = HARDWARE.get_network_type()
network_strength = HARDWARE.get_network_strength(network_type)
wifiIpAddress = HARDWARE.get_ip_address()
except Exception:
cloudlog.exception("Error getting network status")
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
msg.thermal.networkStrength = network_strength
msg.thermal.wifiIpAddress = wifiIpAddress
msg.thermal.batteryPercent = get_battery_capacity()
msg.thermal.batteryStatus = get_battery_status()
msg.thermal.batteryCurrent = get_battery_current()
msg.thermal.batteryVoltage = get_battery_voltage()
msg.thermal.usbOnline = get_usb_present()
# Fake battery levels on uno for frame
if (not EON) or is_uno:
msg.thermal.batteryPercent = 100
msg.thermal.batteryStatus = "Charging"
msg.thermal.bat = 0
current_filter.update(msg.thermal.batteryCurrent / 1e6)
# TODO: add car battery voltage check
max_cpu_temp = cpu_temp_filter.update(max(msg.thermal.cpu))
max_comp_temp = max(max_cpu_temp, msg.thermal.mem,
max(msg.thermal.gpu))
bat_temp = msg.thermal.bat
if handle_fan is not None:
fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed,
startup_conditions["ignition"])
msg.thermal.fanSpeed = fan_speed
# If device is offroad we want to cool down before going onroad
# since going onroad increases load and can make temps go over 107
# We only do this if there is a relay that prevents the car from faulting
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))
if max_cpu_temp > 107. or bat_temp >= 63. or (is_offroad_for_5_min
and max_cpu_temp > 70.0):
# onroad not allowed
thermal_status = ThermalStatus.danger
elif max_comp_temp > 96.0 or bat_temp > 60.:
# hysteresis between onroad not allowed and engage not allowed
thermal_status = clip(thermal_status, ThermalStatus.red,
ThermalStatus.danger)
elif max_cpu_temp > 94.0:
# 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.utcnow()
# show invalid date/time alert
startup_conditions["time_valid"] = True #now.year >= 2019
set_offroad_alert_if_changed("Offroad_InvalidTime",
(not startup_conditions["time_valid"]))
# Show update prompt
try:
last_update = now #datetime.datetime.fromisoformat(params.get("LastUpdateTime", encoding='utf8'))
except (TypeError, ValueError):
last_update = now
dt = now - last_update
update_failed_count = 0 #params.get("UpdateFailedCount")
update_failed_count = 0 if update_failed_count is None else int(
update_failed_count)
last_update_exception = params.get("LastUpdateException",
encoding='utf8')
if update_failed_count > 15 and last_update_exception is not None:
if current_branch in ["release2", "dashcam"]:
extra_text = "Ensure the software is correctly installed"
else:
extra_text = last_update_exception
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt",
False)
set_offroad_alert_if_changed("Offroad_UpdateFailed",
True,
extra_text=extra_text)
elif dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt",
False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", True)
elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt",
True,
extra_text=f"{remaining_time} days.")
else:
set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt",
False)
startup_conditions["not_uninstalling"] = not params.get(
"DoUninstall") == b"1"
startup_conditions["accepted_terms"] = params.get(
"HasAcceptedTerms") == terms_version
panda_signature = params.get("PandaFirmware")
startup_conditions["fw_version_match"] = (panda_signature is None) or (
panda_signature == FW_SIGNATURE
) # don't show alert is no panda is connected (None)
set_offroad_alert_if_changed(
"Offroad_PandaFirmwareMismatch",
(not startup_conditions["fw_version_match"]))
# with 2% left, we killall, otherwise the phone will take a long time to boot
startup_conditions["free_space"] = msg.thermal.freeSpace > 0.02
startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
(current_branch in ['dashcam', 'dashcam-staging'])
startup_conditions["not_driver_view"] = not params.get(
"IsDriverViewEnabled") == b"1"
startup_conditions["not_taking_snapshot"] = not params.get(
"IsTakingSnapshot") == b"1"
# 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
startup_conditions[
"device_temp_good"] = thermal_status < ThermalStatus.danger
set_offroad_alert_if_changed(
"Offroad_TemperatureTooHigh",
(not startup_conditions["device_temp_good"]))
should_start = all(startup_conditions.values())
startup_conditions[
"hardware_supported"] = True #health is not None and health.health.hwType not in [log.HealthData.HwType.whitePanda,
#log.HealthData.HwType.greyPanda]
set_offroad_alert_if_changed(
"Offroad_HardwareUnsupported", health is not None
and not startup_conditions["hardware_supported"])
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
else:
if startup_conditions["ignition"] and (startup_conditions !=
startup_conditions_prev):
cloudlog.event("Startup blocked",
startup_conditions=startup_conditions)
if should_start_prev or (count == 0):
params.put("IsOffroad", "1")
started_ts = None
if off_ts is None:
off_ts = sec_since_boot()
# Offroad power monitoring
pm.calculate(health)
msg.thermal.offroadPowerUsage = pm.get_power_used()
msg.thermal.carBatteryCapacity = max(0, pm.get_car_battery_capacity())
# Check if we need to disable charging (handled by boardd)
msg.thermal.chargingDisabled = pm.should_disable_charging(
health, off_ts)
# Check if we need to shut down
if pm.should_shutdown(health, off_ts, started_seen, LEON):
cloudlog.info(f"shutting device down, offroad since {off_ts}")
# TODO: add function for blocking cloudlog instead of sleep
time.sleep(10)
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())
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 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 thermald_thread():
pm = messaging.PubMaster(['deviceState'])
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"])
fan_speed = 0
count = 0
startup_conditions = {
"ignition": False,
}
startup_conditions_prev = startup_conditions.copy()
off_ts = None
started_ts = None
started_seen = False
thermal_status = ThermalStatus.green
usb_power = True
network_type = NetworkType.none
network_strength = NetworkStrength.unknown
network_info = None
modem_version = None
registered_count = 0
nvme_temps = None
modem_temps = None
current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
pandaState_prev = None
should_start_prev = False
in_car = False
handle_fan = None
is_uno = False
ui_running_prev = False
params = Params()
power_monitor = PowerMonitoring()
no_panda_cnt = 0
HARDWARE.initialize_hardware()
thermal_config = HARDWARE.get_thermal_config()
# 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)
sm.update(0)
peripheralState = sm['peripheralState']
msg = read_thermal(thermal_config)
if pandaStates is not None and len(pandaStates.pandaStates) > 0:
pandaState = pandaStates.pandaStates[0]
# If we lose connection to the panda, wait 5 seconds before going offroad
if pandaState.pandaType == log.PandaState.PandaType.unknown:
no_panda_cnt += 1
if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
if startup_conditions["ignition"]:
cloudlog.error("Lost panda connection while onroad")
startup_conditions["ignition"] = False
else:
no_panda_cnt = 0
startup_conditions[
"ignition"] = pandaState.ignitionLine or pandaState.ignitionCan
in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected
usb_power = peripheralState.usbPowerMode != log.PeripheralState.UsbPowerMode.client
# Setup fan handler on first connect to panda
if handle_fan is None and peripheralState.pandaType != log.PandaState.PandaType.unknown:
is_uno = peripheralState.pandaType == log.PandaState.PandaType.uno
if TICI:
cloudlog.info("Setting up TICI fan handler")
handle_fan = handle_fan_tici
elif is_uno or PC:
cloudlog.info("Setting up UNO fan handler")
handle_fan = handle_fan_uno
else:
cloudlog.info("Setting up EON fan handler")
setup_eon_fan()
handle_fan = handle_fan_eon
# Handle disconnect
if pandaState_prev is not None:
if pandaState.pandaType == log.PandaState.PandaType.unknown and \
pandaState_prev.pandaType != log.PandaState.PandaType.unknown:
params.clear_all(ParamKeyType.CLEAR_ON_PANDA_DISCONNECT)
pandaState_prev = pandaState
# these are expensive calls. update every 10s
if (count % int(10. / DT_TRML)) == 0:
try:
network_type = HARDWARE.get_network_type()
network_strength = HARDWARE.get_network_strength(network_type)
network_info = HARDWARE.get_network_info() # pylint: disable=assignment-from-none
nvme_temps = HARDWARE.get_nvme_temperatures()
modem_temps = HARDWARE.get_modem_temperatures()
# Log modem version once
if modem_version is None:
modem_version = HARDWARE.get_modem_version() # pylint: disable=assignment-from-none
if modem_version is not None:
cloudlog.warning(f"Modem version: {modem_version}")
if TICI and (network_info.get('state', None) == "REGISTERED"):
registered_count += 1
else:
registered_count = 0
if registered_count > 10:
cloudlog.warning(
f"Modem stuck in registered state {network_info}. nmcli conn up lte"
)
os.system("nmcli conn up lte")
registered_count = 0
except Exception:
cloudlog.exception("Error getting network status")
msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)
msg.deviceState.memoryUsagePercent = int(
round(psutil.virtual_memory().percent))
msg.deviceState.cpuUsagePercent = [
int(round(n)) for n in psutil.cpu_percent(percpu=True)
]
msg.deviceState.gpuUsagePercent = int(
round(HARDWARE.get_gpu_usage_percent()))
msg.deviceState.networkType = network_type
msg.deviceState.networkStrength = network_strength
if network_info is not None:
msg.deviceState.networkInfo = network_info
if nvme_temps is not None:
msg.deviceState.nvmeTempC = nvme_temps
if modem_temps is not None:
msg.deviceState.modemTempC = modem_temps
msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness(
)
msg.deviceState.batteryPercent = HARDWARE.get_battery_capacity()
msg.deviceState.batteryCurrent = HARDWARE.get_battery_current()
msg.deviceState.usbOnline = HARDWARE.get_usb_present()
current_filter.update(msg.deviceState.batteryCurrent / 1e6)
max_comp_temp = temp_filter.update(
max(max(msg.deviceState.cpuTempC), msg.deviceState.memoryTempC,
max(msg.deviceState.gpuTempC)))
if handle_fan is not None:
fan_speed = handle_fan(controller, max_comp_temp, fan_speed,
startup_conditions["ignition"])
msg.deviceState.fanSpeedPercentDesired = fan_speed
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))
if is_offroad_for_5_min and max_comp_temp > OFFROAD_DANGER_TEMP:
# If device is offroad we want to cool down before going onroad
# since going onroad increases load and can make temps go over 107
thermal_status = ThermalStatus.danger
else:
current_band = THERMAL_BANDS[thermal_status]
band_idx = list(THERMAL_BANDS.keys()).index(thermal_status)
if current_band.min_temp is not None and max_comp_temp < current_band.min_temp:
thermal_status = list(THERMAL_BANDS.keys())[band_idx - 1]
elif current_band.max_temp is not None and max_comp_temp > current_band.max_temp:
thermal_status = list(THERMAL_BANDS.keys())[band_idx + 1]
# **** starting logic ****
# Check for last update time and display alerts if needed
now = datetime.datetime.utcnow()
# show invalid date/time alert
startup_conditions["time_valid"] = (now.year > 2020) or (
now.year == 2020 and now.month >= 10)
set_offroad_alert_if_changed("Offroad_InvalidTime",
(not startup_conditions["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)
last_update_exception = params.get("LastUpdateException",
encoding='utf8')
if update_failed_count > 15 and last_update_exception is not None:
if tested_branch:
extra_text = "Ensure the software is correctly installed"
else:
extra_text = last_update_exception
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt",
False)
set_offroad_alert_if_changed("Offroad_UpdateFailed",
True,
extra_text=extra_text)
elif dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt",
False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", True)
elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt",
True,
extra_text=f"{remaining_time} days.")
else:
set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt",
False)
startup_conditions["up_to_date"] = params.get(
"Offroad_ConnectivityNeeded") is None or params.get_bool(
"DisableUpdates") or params.get_bool("SnoozeUpdate")
startup_conditions["not_uninstalling"] = not params.get_bool(
"DoUninstall")
startup_conditions["accepted_terms"] = params.get(
"HasAcceptedTerms") == terms_version
# with 2% left, we killall, otherwise the phone will take a long time to boot
startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
params.get_bool("Passive")
startup_conditions["not_driver_view"] = not params.get_bool(
"IsDriverViewEnabled")
startup_conditions["not_taking_snapshot"] = not params.get_bool(
"IsTakingSnapshot")
# 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
startup_conditions[
"device_temp_good"] = thermal_status < ThermalStatus.danger
set_offroad_alert_if_changed(
"Offroad_TemperatureTooHigh",
(not startup_conditions["device_temp_good"]))
if TICI:
set_offroad_alert_if_changed("Offroad_StorageMissing",
(not Path("/data/media").is_mount()))
# Handle offroad/onroad transition
should_start = all(startup_conditions.values())
if should_start != should_start_prev or (count == 0):
params.put_bool("IsOnroad", should_start)
params.put_bool("IsOffroad", not should_start)
HARDWARE.set_power_save(not should_start)
if should_start:
off_ts = None
if started_ts is None:
started_ts = sec_since_boot()
started_seen = True
else:
if startup_conditions["ignition"] and (startup_conditions !=
startup_conditions_prev):
cloudlog.event("Startup blocked",
startup_conditions=startup_conditions)
started_ts = None
if off_ts is None:
off_ts = sec_since_boot()
# Offroad power monitoring
power_monitor.calculate(peripheralState,
startup_conditions["ignition"])
msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
msg.deviceState.carBatteryCapacityUwh = max(
0, power_monitor.get_car_battery_capacity())
# Check if we need to disable charging (handled by boardd)
msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(
startup_conditions["ignition"], in_car, off_ts)
# Check if we need to shut down
if power_monitor.should_shutdown(peripheralState,
startup_conditions["ignition"],
in_car, off_ts, started_seen):
cloudlog.info(f"shutting device down, offroad since {off_ts}")
# TODO: add function for blocking cloudlog instead of sleep
time.sleep(10)
HARDWARE.shutdown()
# If UI has crashed, set the brightness to reasonable non-zero value
ui_running = "ui" in (p.name for p in sm["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)
cloudlog.event(
"STATUS_PACKET",
count=count,
pandaStates=(strip_deprecated_keys(pandaStates.to_dict())
if pandaStates else None),
peripheralState=strip_deprecated_keys(
peripheralState.to_dict()),
location=(strip_deprecated_keys(
sm["gpsLocationExternal"].to_dict())
if sm.alive["gpsLocationExternal"] else None),
deviceState=strip_deprecated_keys(msg.to_dict()))
count += 1
def thermald_thread():
pm = messaging.PubMaster(['deviceState'])
pandaState_timeout = int(1000 * 2.5 *
DT_TRML) # 2.5x the expected pandaState frequency
pandaState_sock = messaging.sub_sock('pandaState',
timeout=pandaState_timeout)
location_sock = messaging.sub_sock('gpsLocationExternal')
managerState_sock = messaging.sub_sock('managerState', conflate=True)
fan_speed = 0
count = 0
startup_conditions = {
"ignition": False,
}
startup_conditions_prev = startup_conditions.copy()
off_ts = None
started_ts = None
started_seen = False
thermal_status = ThermalStatus.green
usb_power = True
network_type = NetworkType.none
network_strength = NetworkStrength.unknown
network_info = None
modem_version = None
registered_count = 0
current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
cpu_temp_filter = FirstOrderFilter(0., CPU_TEMP_TAU, DT_TRML)
pandaState_prev = None
should_start_prev = False
handle_fan = None
is_uno = False
ui_running_prev = False
power_monitor = PowerMonitoring()
no_panda_cnt = 0
HARDWARE.initialize_hardware()
thermal_config = HARDWARE.get_thermal_config()
if params.get_bool("IsOnroad"):
cloudlog.event("onroad flag not cleared")
# dp
dp_no_batt = params.get_bool("dp_no_batt")
dp_temp_monitor = True
dp_last_modified_temp_monitor = None
dp_auto_shutdown = False
dp_last_modified_auto_shutdown = None
dp_auto_shutdown_last = False
dp_auto_shutdown_in = 90
dp_last_modified_auto_shutdown_in = None
dp_auto_shutdown_in_last = 90
dp_fan_mode = 0
dp_fan_mode_last = None
modified = None
last_modified = None
last_modified_check = None
#dp
prebuilt_file = '/data/openpilot/prebuilt'
dp_prebuilt = params.get_bool("dp_prebuilt")
if not os.path.isfile(prebuilt_file) and dp_prebuilt:
os.system("touch /data/openpilot/prebuilt")
elif os.path.isfile(prebuilt_file) and not dp_prebuilt:
os.system("rm -fr /data/openpilot/prebuilt")
# CPR3 logging
if EON:
base_path = "/sys/kernel/debug/cpr3-regulator/"
cpr_files = [p for p in Path(base_path).glob("**/*") if p.is_file()]
cpr_files = ["/sys/kernel/debug/regulator/pm8994_s11/voltage"
] + cpr_files
cpr_data = {}
for cf in cpr_files:
with open(cf, "r") as f:
try:
cpr_data[str(cf)] = f.read().strip()
except Exception:
pass
cloudlog.event("CPR", data=cpr_data)
# dp - light up = not started
if JETSON:
HARDWARE.led(True)
while 1:
# dp - load temp monitor conf
last_modified_check, modified = get_last_modified(
LAST_MODIFIED_THERMALD, last_modified_check, modified)
if last_modified != modified:
dp_temp_monitor, dp_last_modified_temp_monitor = param_get_if_updated(
"dp_temp_monitor", "bool", dp_temp_monitor,
dp_last_modified_temp_monitor)
dp_auto_shutdown, dp_last_modified_auto_shutdown = param_get_if_updated(
"dp_auto_shutdown", "bool", dp_auto_shutdown,
dp_last_modified_auto_shutdown)
dp_auto_shutdown_in, dp_last_modified_auto_shutdown_in = param_get_if_updated(
"dp_auto_shutdown_in", "int", dp_auto_shutdown_in,
dp_last_modified_auto_shutdown_in)
dp_fan_mode, dp_fan_mode_last = param_get_if_updated(
"dp_fan_mode", "int", dp_fan_mode, dp_fan_mode_last)
last_modified = modified
pandaState = messaging.recv_sock(pandaState_sock, wait=True)
msg = read_thermal(thermal_config)
if pandaState is not None:
usb_power = pandaState.pandaState.usbPowerMode != log.PandaState.UsbPowerMode.client
# If we lose connection to the panda, wait 5 seconds before going offroad
if pandaState.pandaState.pandaType == log.PandaState.PandaType.unknown:
no_panda_cnt += 1
if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
if startup_conditions["ignition"]:
cloudlog.error("Lost panda connection while onroad")
startup_conditions["ignition"] = False
else:
no_panda_cnt = 0
startup_conditions[
"ignition"] = pandaState.pandaState.ignitionLine or pandaState.pandaState.ignitionCan
startup_conditions[
"hardware_supported"] = pandaState.pandaState.pandaType not in [
log.PandaState.PandaType.whitePanda,
log.PandaState.PandaType.greyPanda
]
set_offroad_alert_if_changed(
"Offroad_HardwareUnsupported",
not startup_conditions["hardware_supported"])
# Setup fan handler on first connect to panda
if not JETSON and handle_fan is None and pandaState.pandaState.pandaType != log.PandaState.PandaType.unknown:
is_uno = pandaState.pandaState.pandaType == log.PandaState.PandaType.uno
if (not EON) or is_uno:
cloudlog.info("Setting up UNO fan handler")
handle_fan = handle_fan_uno
else:
cloudlog.info("Setting up EON fan handler")
setup_eon_fan()
handle_fan = handle_fan_eon
# Handle disconnect
if pandaState_prev is not None:
if pandaState.pandaState.pandaType == log.PandaState.PandaType.unknown and \
pandaState_prev.pandaState.pandaType != log.PandaState.PandaType.unknown:
params.clear_all(ParamKeyType.CLEAR_ON_PANDA_DISCONNECT)
pandaState_prev = pandaState
# get_network_type is an expensive call. update every 10s
if (count % int(10. / DT_TRML)) == 0:
try:
network_type = HARDWARE.get_network_type()
network_strength = HARDWARE.get_network_strength(network_type)
network_info = HARDWARE.get_network_info() # pylint: disable=assignment-from-none
# Log modem version once
if modem_version is None:
modem_version = HARDWARE.get_modem_version() # pylint: disable=assignment-from-none
if modem_version is not None:
cloudlog.warning(f"Modem version: {modem_version}")
if TICI and (network_info.get('state', None) == "REGISTERED"):
registered_count += 1
else:
registered_count = 0
if registered_count > 10:
cloudlog.warning(
f"Modem stuck in registered state {network_info}. nmcli conn up lte"
)
os.system("nmcli conn up lte")
registered_count = 0
except Exception:
cloudlog.exception("Error getting network status")
msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)
msg.deviceState.memoryUsagePercent = int(
round(psutil.virtual_memory().percent))
msg.deviceState.cpuUsagePercent = int(round(psutil.cpu_percent()))
msg.deviceState.gpuUsagePercent = int(
round(HARDWARE.get_gpu_usage_percent()))
msg.deviceState.networkType = network_type
msg.deviceState.networkStrength = network_strength
if network_info is not None:
msg.deviceState.networkInfo = network_info
msg.deviceState.batteryPercent = HARDWARE.get_battery_capacity()
msg.deviceState.batteryStatus = HARDWARE.get_battery_status()
msg.deviceState.batteryCurrent = HARDWARE.get_battery_current()
msg.deviceState.batteryVoltage = HARDWARE.get_battery_voltage()
msg.deviceState.usbOnline = HARDWARE.get_usb_present()
# Fake battery levels on uno for frame
if (not EON) or is_uno or dp_no_batt:
msg.deviceState.batteryPercent = 100
msg.deviceState.batteryStatus = "Charging"
msg.deviceState.batteryTempC = 0
current_filter.update(msg.deviceState.batteryCurrent / 1e6)
# TODO: add car battery voltage check
max_cpu_temp = cpu_temp_filter.update(max(msg.deviceState.cpuTempC))
max_comp_temp = max(max_cpu_temp, msg.deviceState.memoryTempC,
max(msg.deviceState.gpuTempC))
bat_temp = msg.deviceState.batteryTempC
if handle_fan is not None:
fan_speed = handle_fan(dp_fan_mode, max_cpu_temp, bat_temp,
fan_speed, startup_conditions["ignition"])
msg.deviceState.fanSpeedPercentDesired = fan_speed
# If device is offroad we want to cool down before going onroad
# since going onroad increases load and can make temps go over 107
# We only do this if there is a relay that prevents the car from faulting
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))
if max_cpu_temp > 107. or bat_temp >= 63. or (is_offroad_for_5_min
and max_cpu_temp > 70.0):
# onroad not allowed
thermal_status = ThermalStatus.danger
elif max_comp_temp > 96.0 or bat_temp > 60.:
# hysteresis between onroad not allowed and engage not allowed
thermal_status = clip(thermal_status, ThermalStatus.red,
ThermalStatus.danger)
elif max_cpu_temp > 94.0:
# 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:
thermal_status = ThermalStatus.green # default to good condition
if not dp_temp_monitor and thermal_status in [
ThermalStatus.red, ThermalStatus.danger
]:
thermal_status = ThermalStatus.yellow
# **** starting logic ****
# Check for last update time and display alerts if needed
# now = datetime.datetime.utcnow()
#
# # show invalid date/time alert
# startup_conditions["time_valid"] = (now.year > 2020) or (now.year == 2020 and now.month >= 10)
# set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["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)
# last_update_exception = params.get("LastUpdateException", encoding='utf8')
#
# if update_failed_count > 15 and last_update_exception is not None:
# if tested_branch:
# extra_text = "Ensure the software is correctly installed"
# else:
# extra_text = last_update_exception
#
# set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
# set_offroad_alert_if_changed("Offroad_UpdateFailed", True, extra_text=extra_text)
# elif dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
# set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", True)
# elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
# remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
# set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining_time} days.")
# else:
# set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
# set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
startup_conditions["up_to_date"] = params.get(
"Offroad_ConnectivityNeeded") is None or params.get_bool(
"DisableUpdates")
startup_conditions["not_uninstalling"] = not params.get_bool(
"DoUninstall")
startup_conditions["accepted_terms"] = params.get(
"HasAcceptedTerms") == terms_version
panda_signature = params.get("PandaFirmware")
startup_conditions["fw_version_match"] = (panda_signature is None) or (
panda_signature == FW_SIGNATURE
) # don't show alert is no panda is connected (None)
set_offroad_alert_if_changed(
"Offroad_PandaFirmwareMismatch",
(not startup_conditions["fw_version_match"]))
# with 2% left, we killall, otherwise the phone will take a long time to boot
startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
params.get_bool("Passive")
startup_conditions["not_driver_view"] = not params.get_bool(
"IsDriverViewEnabled")
startup_conditions["not_taking_snapshot"] = not params.get_bool(
"IsTakingSnapshot")
# 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
startup_conditions[
"device_temp_good"] = thermal_status < ThermalStatus.danger
set_offroad_alert_if_changed(
"Offroad_TemperatureTooHigh",
(not startup_conditions["device_temp_good"]))
if TICI:
set_offroad_alert_if_changed("Offroad_NvmeMissing",
(not Path("/data/media").is_mount()))
# Handle offroad/onroad transition
should_start = all(startup_conditions.values())
if should_start != should_start_prev or (count == 0):
params.put_bool("IsOnroad", should_start)
params.put_bool("IsOffroad", not should_start)
HARDWARE.set_power_save(not should_start)
if should_start:
off_ts = None
if started_ts is None:
started_ts = sec_since_boot()
started_seen = True
else:
if startup_conditions["ignition"] and (startup_conditions !=
startup_conditions_prev):
cloudlog.event("Startup blocked",
startup_conditions=startup_conditions)
started_ts = None
if off_ts is None:
off_ts = sec_since_boot()
# dp - show led when off and vice versa
if should_start != should_start_prev:
HARDWARE.led(False if should_start else True)
# Offroad power monitoring
if not dp_no_batt:
power_monitor.calculate(pandaState)
msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used(
)
msg.deviceState.carBatteryCapacityUwh = max(
0, power_monitor.get_car_battery_capacity())
# Check if we need to disable charging (handled by boardd)
msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(
pandaState, off_ts)
# Check if we need to shut down
if power_monitor.should_shutdown(pandaState, off_ts, started_seen,
LEON):
cloudlog.info(f"shutting device down, offroad since {off_ts}")
# TODO: add function for blocking cloudlog instead of sleep
time.sleep(10)
HARDWARE.shutdown()
# dp - auto shutdown
# reset off_ts if we change auto shutdown related params
if off_ts is not None:
if dp_auto_shutdown:
shutdown_sec = dp_auto_shutdown_in * 60
sec_now = sec_since_boot() - off_ts
if (shutdown_sec - 5) < sec_now:
msg.deviceState.chargingDisabled = True
if shutdown_sec < sec_now:
time.sleep(10)
HARDWARE.shutdown()
if dp_auto_shutdown_in_last != dp_auto_shutdown_in or dp_auto_shutdown_last != dp_auto_shutdown:
off_ts = sec_since_boot()
dp_auto_shutdown_last = dp_auto_shutdown
dp_auto_shutdown_in_last = dp_auto_shutdown_in
# If UI has crashed, set the brightness to reasonable non-zero value
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
class DriverStatus():
def __init__(self, monitor_on=False):
self.pose = _DriverPose()
self.monitor_on = monitor_on
self.monitor_param_on = monitor_on
self.monitor_valid = True # variance needs to be low
self.awareness = 1.
self.driver_distracted = False
self.driver_distraction_filter = FirstOrderFilter(0., _DISTRACTED_FILTER_TS, DT_DMON)
self.variance_high = False
self.variance_filter = FirstOrderFilter(0., _VARIANCE_FILTER_TS, DT_DMON)
self.ts_last_check = 0.
self.face_detected = False
self.terminal_alert_cnt = 0
self._set_timers()
def _reset_filters(self):
self.driver_distraction_filter.x = 0.
self.variance_filter.x = 0.
self.monitor_valid = True
def _set_timers(self):
if self.monitor_on:
self.threshold_pre = _DISTRACTED_PRE_TIME / _DISTRACTED_TIME
self.threshold_prompt = _DISTRACTED_PROMPT_TIME / _DISTRACTED_TIME
self.step_change = DT_CTRL / _DISTRACTED_TIME
else:
self.threshold_pre = _AWARENESS_PRE_TIME / _AWARENESS_TIME
self.threshold_prompt = _AWARENESS_PROMPT_TIME / _AWARENESS_TIME
self.step_change = DT_CTRL / _AWARENESS_TIME
def _is_driver_distracted(self, pose):
# to be tuned and to learn the driver's normal pose
pitch_error = pose.pitch - _PITCH_NATURAL_OFFSET
yaw_error = pose.yaw - _YAW_NATURAL_OFFSET
# add positive pitch allowance
if pitch_error > 0.:
pitch_error = max(pitch_error - _PITCH_POS_ALLOWANCE, 0.)
pitch_error *= _PITCH_WEIGHT
metric = np.sqrt(yaw_error**2 + pitch_error**2)
#print "%02.4f" % np.degrees(pose.pitch), "%02.4f" % np.degrees(pitch_error), "%03.4f" % np.degrees(pose.pitch_offset), metric
return 1 if metric > _METRIC_THRESHOLD else 0
def get_pose(self, driver_monitoring, params):
self.pose.roll, self.pose.pitch, self.pose.yaw = head_orientation_from_descriptor(driver_monitoring.descriptor)
# TODO: DM data should not be in a list if they are not homogeneous
if len(driver_monitoring.descriptor) > 6:
self.face_detected = driver_monitoring.descriptor[6] > 0.
else:
self.face_detected = True
self.driver_distracted = self._is_driver_distracted(self.pose)
# first order filters
self.driver_distraction_filter.update(self.driver_distracted)
self.variance_high = driver_monitoring.std > _STD_THRESHOLD
self.variance_filter.update(self.variance_high)
monitor_param_on_prev = self.monitor_param_on
monitor_valid_prev = self.monitor_valid
# don't check for param too often as it's a kernel call
ts = sec_since_boot()
if ts - self.ts_last_check > 1.:
self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
self.ts_last_check = ts
self.monitor_valid = _monitor_hysteresis(self.variance_filter.x, monitor_valid_prev)
self.monitor_on = self.monitor_valid and self.monitor_param_on
if monitor_param_on_prev != self.monitor_param_on:
self._reset_filters()
self._set_timers()
def update(self, events, driver_engaged, ctrl_active, standstill):
driver_engaged |= (self.driver_distraction_filter.x < 0.37 and self.monitor_on)
awareness_prev = self.awareness
if (driver_engaged and self.awareness > 0.) or not ctrl_active:
# always reset if driver is in control (unless we are in red alert state) or op isn't active
self.awareness = 1.
# only update if face is detected, driver is distracted and distraction filter is high
if (not self.monitor_on or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected)) and \
not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
self.awareness = max(self.awareness - self.step_change, -0.1)
alert = None
if self.awareness < 0.:
# terminal red alert: disengagement required
alert = 'driverDistracted' if self.monitor_on else 'driverUnresponsive'
if awareness_prev >= 0.:
self.terminal_alert_cnt += 1
elif self.awareness <= self.threshold_prompt:
# prompt orange alert
alert = 'promptDriverDistracted' if self.monitor_on else 'promptDriverUnresponsive'
elif self.awareness <= self.threshold_pre:
# pre green alert
alert = 'preDriverDistracted' if self.monitor_on else 'preDriverUnresponsive'
if alert is not None:
events.append(create_event(alert, [ET.WARNING]))
return events
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
network_strength = NetworkStrength.unknown
current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
cpu_temp_filter = FirstOrderFilter(0., CPU_TEMP_TAU, DT_TRML)
health_prev = None
fw_version_match_prev = True
current_connectivity_alert = None
time_valid_prev = True
should_start_prev = False
handle_fan = None
is_uno = False
has_relay = False
params = Params()
pm = PowerMonitoring()
no_panda_cnt = 0
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()
if health is not None:
usb_power = health.health.usbPowerMode != log.HealthData.UsbPowerMode.client
# If we lose connection to the panda, wait 5 seconds before going offroad
if health.health.hwType == log.HealthData.HwType.unknown:
no_panda_cnt += 1
if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
if ignition:
cloudlog.error("Lost panda connection while onroad")
ignition = False
else:
no_panda_cnt = 0
ignition = health.health.ignitionLine or health.health.ignitionCan
# Setup fan handler on first connect to panda
if handle_fan is None and health.health.hwType != log.HealthData.HwType.unknown:
is_uno = health.health.hwType == log.HealthData.HwType.uno
has_relay = health.health.hwType in [
log.HealthData.HwType.blackPanda,
log.HealthData.HwType.uno, log.HealthData.HwType.dos
]
if is_uno or not ANDROID:
cloudlog.info("Setting up UNO fan handler")
handle_fan = handle_fan_uno
else:
cloudlog.info("Setting up EON fan handler")
setup_eon_fan()
handle_fan = handle_fan_eon
# Handle disconnect
if health_prev is not None:
if health.health.hwType == log.HealthData.HwType.unknown and \
health_prev.health.hwType != log.HealthData.HwType.unknown:
params.panda_disconnect()
health_prev = health
# get_network_type is an expensive call. update every 10s
if (count % int(10. / DT_TRML)) == 0:
try:
network_type = get_network_type()
network_strength = get_network_strength(network_type)
except Exception:
cloudlog.exception("Error getting network status")
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
msg.thermal.networkStrength = network_strength
msg.thermal.batteryPercent = get_battery_capacity()
msg.thermal.batteryStatus = get_battery_status()
msg.thermal.batteryCurrent = get_battery_current()
msg.thermal.batteryVoltage = get_battery_voltage()
msg.thermal.usbOnline = get_usb_present()
# 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 = cpu_temp_filter.update(
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.
if handle_fan is not None:
fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed, ignition)
msg.thermal.fanSpeed = fan_speed
# If device is offroad we want to cool down before going onroad
# since going onroad increases load and can make temps go over 107
# We only do this if there is a relay that prevents the car from faulting
if max_cpu_temp > 107. or bat_temp >= 63. or (has_relay and
(started_ts is None)
and max_cpu_temp > 70.0):
# onroad not allowed
thermal_status = ThermalStatus.danger
elif max_comp_temp > 96.0 or bat_temp > 60.:
# hysteresis between onroad not allowed and engage not allowed
thermal_status = clip(thermal_status, ThermalStatus.red,
ThermalStatus.danger)
elif max_cpu_temp > 94.0:
# 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.utcnow()
# 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:
put_nonblocking("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")
put_nonblocking(
"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")
put_nonblocking("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")
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_viewing_driver = params.get("IsDriverViewEnabled") == b"1"
is_taking_snapshot = params.get("IsTakingSnapshot") == b"1"
should_start = should_start and (not is_taking_snapshot) and (
not is_viewing_driver)
if fw_version_match and not fw_version_match_prev:
params.delete("Offroad_PandaFirmwareMismatch")
if not fw_version_match and fw_version_match_prev:
put_nonblocking(
"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:
put_nonblocking(
"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):
put_nonblocking("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')
# Offroad power monitoring
pm.calculate(health)
msg.thermal.offroadPowerUsage = pm.get_power_used()
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:
put_nonblocking(
"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
# 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
class LatControlINDI():
def __init__(self, CP):
self.angle_steers_des = 0.
A = np.array([[1.0, DT_CTRL, 0.0],
[0.0, 1.0, DT_CTRL],
[0.0, 0.0, 1.0]])
C = np.array([[1.0, 0.0, 0.0],
[0.0, 1.0, 0.0]])
# Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]])
# R = np.matrix([[1e-2, 0.0], [0.0, 1e3]])
# (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R)
# K = np.transpose(K)
K = np.array([[7.30262179e-01, 2.07003658e-04],
[7.29394177e+00, 1.39159419e-02],
[1.71022442e+01, 3.38495381e-02]])
self.speed = 0.
self.K = K
self.A_K = A - np.dot(K, C)
self.x = np.array([[0.], [0.], [0.]])
self.enforce_rate_limit = CP.carName == "toyota"
self._RC = (CP.lateralTuning.indi.timeConstantBP, CP.lateralTuning.indi.timeConstantV)
self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV)
self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV)
self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV)
self.sat_count_rate = 1.0 * DT_CTRL
self.sat_limit = CP.steerLimitTimer
self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL)
self.reset()
@property
def RC(self):
return interp(self.speed, self._RC[0], self._RC[1])
@property
def G(self):
return interp(self.speed, self._G[0], self._G[1])
@property
def outer_loop_gain(self):
return interp(self.speed, self._outer_loop_gain[0], self._outer_loop_gain[1])
@property
def inner_loop_gain(self):
return interp(self.speed, self._inner_loop_gain[0], self._inner_loop_gain[1])
def reset(self):
self.steer_filter.x = 0.
self.output_steer = 0.
self.sat_count = 0.
self.speed = 0.
def _check_saturation(self, control, check_saturation, limit):
saturated = abs(control) == limit
if saturated and check_saturation:
self.sat_count += self.sat_count_rate
else:
self.sat_count -= self.sat_count_rate
self.sat_count = clip(self.sat_count, 0.0, 1.0)
return self.sat_count > self.sat_limit
def update(self, active, CS, CP, VM, params, last_actuators, curvature, curvature_rate):
self.speed = CS.vEgo
# Update Kalman filter
y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])
self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y)
indi_log = log.ControlsState.LateralINDIState.new_message()
indi_log.steeringAngleDeg = math.degrees(self.x[0])
indi_log.steeringRateDeg = math.degrees(self.x[1])
indi_log.steeringAccelDeg = math.degrees(self.x[2])
steers_des = VM.get_steer_from_curvature(-curvature, CS.vEgo, params.roll)
steers_des += math.radians(params.angleOffsetDeg)
indi_log.steeringAngleDesiredDeg = math.degrees(steers_des)
rate_des = VM.get_steer_from_curvature(-curvature_rate, CS.vEgo, 0)
indi_log.steeringRateDesiredDeg = math.degrees(rate_des)
if CS.vEgo < 0.3 or not active:
indi_log.active = False
self.output_steer = 0.0
self.steer_filter.x = 0.0
else:
# Expected actuator value
self.steer_filter.update_alpha(self.RC)
self.steer_filter.update(self.output_steer)
# Compute acceleration error
rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des
accel_sp = self.inner_loop_gain * (rate_sp - self.x[1])
accel_error = accel_sp - self.x[2]
# Compute change in actuator
g_inv = 1. / self.G
delta_u = g_inv * accel_error
# If steering pressed, only allow wind down
if CS.steeringPressed and (delta_u * self.output_steer > 0):
delta_u = 0
# Enforce rate limit
if self.enforce_rate_limit:
steer_max = float(CarControllerParams.STEER_MAX)
new_output_steer_cmd = steer_max * (self.steer_filter.x + delta_u)
prev_output_steer_cmd = steer_max * self.output_steer
new_output_steer_cmd = apply_toyota_steer_torque_limits(new_output_steer_cmd, prev_output_steer_cmd, prev_output_steer_cmd, CarControllerParams)
self.output_steer = new_output_steer_cmd / steer_max
else:
self.output_steer = self.steer_filter.x + delta_u
steers_max = get_steer_max(CP, CS.vEgo)
self.output_steer = clip(self.output_steer, -steers_max, steers_max)
indi_log.active = True
indi_log.rateSetPoint = float(rate_sp)
indi_log.accelSetPoint = float(accel_sp)
indi_log.accelError = float(accel_error)
indi_log.delayedOutput = float(self.steer_filter.x)
indi_log.delta = float(delta_u)
indi_log.output = float(self.output_steer)
check_saturation = (CS.vEgo > 10.) and not CS.steeringRateLimited and not CS.steeringPressed
indi_log.saturated = self._check_saturation(self.output_steer, check_saturation, steers_max)
return float(self.output_steer), float(steers_des), indi_log
