def update_d_poly(self, v_ego):
# only offset left and right lane lines; offsetting p_poly does not make sense
self.last_modified_check, self.modified = get_last_modified(
LAST_MODIFIED_LANE_PLANNER, self.last_modified_check,
self.modified)
if self.last_modified != self.modified:
self.dp_camera_offset, self.last_modified_dp_camera_offset = param_get_if_updated(
"dp_camera_offset", "int", self.dp_camera_offset,
self.last_modified_dp_camera_offset)
self.last_modified = self.modified
offset = self.dp_camera_offset * 0.01 if self.dp_camera_offset != 0 else 0
self.l_poly[3] += offset
self.r_poly[3] += offset
self.p_poly[3] += offset
# Reduce reliance on lanelines that are too far apart or
# will be in a few seconds
l_prob, r_prob = self.l_prob, self.r_prob
width_poly = self.l_poly - self.r_poly
prob_mods = []
for t_check in [0.0, 1.5, 3.0]:
width_at_t = eval_poly(width_poly, t_check * (v_ego + 7))
# dp note
# [3.5, 4.5] = from 3m to 4m (lane width)
# [1.0, 0.0] = "use lane line" to "not use lane line at all"
prob_mods.append(interp(width_at_t, [3.5, 4.5], [1.0, 0.0]))
mod = min(prob_mods)
l_prob *= mod
r_prob *= mod
# Reduce reliance on uncertain lanelines
l_std_mod = interp(self.l_std, [.15, .3], [1.0, 0.0])
r_std_mod = interp(self.r_std, [.15, .3], [1.0, 0.0])
l_prob *= l_std_mod
r_prob *= r_std_mod
# Find current lanewidth
self.lane_width_certainty += 0.05 * (l_prob * r_prob -
self.lane_width_certainty)
current_lane_width = abs(self.l_poly[3] - self.r_poly[3])
self.lane_width_estimate += 0.005 * (current_lane_width -
self.lane_width_estimate)
speed_lane_width = interp(v_ego, [0., 14., 20.],
[2.5, 3., 3.5]) # German Standards
self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
(1 - self.lane_width_certainty) * speed_lane_width
clipped_lane_width = min(4.0, self.lane_width)
path_from_left_lane = self.l_poly.copy()
path_from_left_lane[3] -= clipped_lane_width / 2.0
path_from_right_lane = self.r_poly.copy()
path_from_right_lane[3] += clipped_lane_width / 2.0
lr_prob = l_prob + r_prob - l_prob * r_prob
d_poly_lane = (l_prob * path_from_left_lane + r_prob *
path_from_right_lane) / (l_prob + r_prob + 0.0001)
self.d_poly = lr_prob * d_poly_lane + (1.0 -
lr_prob) * self.p_poly.copy()
def _get_live_params(self):
self.last_modified_check, self.modified = get_last_modified(
LAST_MODIFIED_DYNAMIC_FOLLOW, self.last_modified_check,
self.modified)
if self.last_modified != self.modified:
#self.dp_dynamic_follow, self.dp_dynamic_follow_last_modified = param_get_if_updated("dp_dynamic_follow", "int", self.dp_dynamic_follow, self.dp_dynamic_follow_last_modified)
self.global_df_mod, self.dp_dynamic_follow_multiplier_last_modified = param_get_if_updated(
"dp_dynamic_follow_multiplier", "float", self.global_df_mod,
self.dp_dynamic_follow_multiplier_last_modified)
if self.global_df_mod != 1.:
self.global_df_mod = clip(self.global_df_mod, .85, 1.2)
self.min_TR, self.dp_dynamic_follow_min_tr_last_modified = param_get_if_updated(
"dp_dynamic_follow_min_tr", "float", self.min_TR,
self.dp_dynamic_follow_min_tr_last_modified)
if self.min_TR != .9:
self.min_TR = clip(self.min_TR, .85, 1.6)
self.last_modified = self.modified
def uploader_fn(exit_event):
cloudlog.info("uploader_fn")
params = Params()
dongle_id = params.get("DongleId")
if dongle_id is None:
return
# cloudlog.info("uploader missing dongle_id")
# raise Exception("uploader can't start without dongle id")
else:
dongle_id = dongle_id.decode('utf8')
uploader = Uploader(dongle_id, ROOT)
# dp
dp_upload_on_mobile = False
dp_last_modified_upload_on_mobile = None
dp_upload_on_hotspot = False
dp_last_modified_upload_on_hotspot = None
modified = None
last_modified = None
last_modified_check = None
backoff = 0.1
counter = 0
should_upload = False
while not exit_event.is_set():
offroad = params.get("IsOffroad") == b'1'
allow_raw_upload = (params.get("IsUploadRawEnabled") != b"0") and offroad
check_network = (counter % 12 == 0 if offroad else True)
if check_network:
on_hotspot = is_on_hotspot()
on_wifi = is_on_wifi()
# dp - load temp monitor conf
last_modified_check, modified = get_last_modified(LAST_MODIFIED_UPLOADER, last_modified_check, modified)
if last_modified != modified:
dp_upload_on_mobile, dp_last_modified_upload_on_mobile = param_get_if_updated("dp_upload_on_mobile", "bool", dp_upload_on_mobile, dp_last_modified_upload_on_mobile)
dp_upload_on_hotspot, dp_last_modified_upload_on_hotspot = param_get_if_updated("dp_upload_on_hotspot", "bool", dp_upload_on_hotspot, dp_last_modified_upload_on_hotspot)
last_modified = modified
should_upload = on_wifi and not on_hotspot
d = uploader.next_file_to_upload(with_raw=allow_raw_upload and should_upload)
counter += 1
if d is None: # Nothing to upload
time.sleep(60 if offroad else 5)
continue
key, fn = d
cloudlog.event("uploader_netcheck", is_on_hotspot=on_hotspot, is_on_wifi=on_wifi)
cloudlog.info("to upload %r", d)
success = uploader.upload(key, fn)
if success:
backoff = 0.1
else:
cloudlog.info("backoff %r", backoff)
time.sleep(backoff + random.uniform(0, backoff))
backoff = min(backoff*2, 120)
cloudlog.info("upload done, success=%r", success)
def confd_thread():
sm = messaging.SubMaster(['thermal'])
pm = messaging.PubMaster(['dragonConf'])
last_dp_msg = None
frame = 0
update_params = False
modified = None
last_modified = None
last_modified_check = None
started = False
free_space = 1
battery_percent = 0
overheat = False
last_charging_ctrl = False
last_started = False
dashcam = Dashcam()
last_dashcam_recorded = False
while True:
start_sec = sec_since_boot()
msg = messaging.new_message('dragonConf')
if last_dp_msg is not None:
msg.dragonConf = last_dp_msg
'''
===================================================
load thermald data every 3 seconds
===================================================
'''
if frame % (HERTZ * 3) == 0:
started, free_space, battery_percent, overheat = pull_thermald(
frame, sm, started, free_space, battery_percent, overheat)
setattr(msg.dragonConf, get_struct_name('dp_thermal_started'), started)
setattr(msg.dragonConf, get_struct_name('dp_thermal_overheat'),
overheat)
'''
===================================================
hotspot on boot
we do it after 30 secs just in case
===================================================
'''
if frame == (HERTZ * 30) and param_get("dp_hotspot_on_boot", "bool",
False):
os.system("service call wifi 37 i32 0 i32 1 &")
'''
===================================================
check dp_last_modified every second
===================================================
'''
if not update_params:
last_modified_check, modified = get_last_modified(
LAST_MODIFIED_SYSTEMD, last_modified_check, modified)
if last_modified != modified:
update_params = True
last_modified = modified
'''
===================================================
conditionally set update_params to true
===================================================
'''
# force updating param when `started` changed
if last_started != started:
update_params = True
last_started = started
if frame == 0:
update_params = True
'''
===================================================
conditionally update dp param base on stock param
===================================================
'''
if update_params and params.get("LaneChangeEnabled") == b"1":
params.put("dp_steering_on_signal", "0")
'''
===================================================
push param vals to message
===================================================
'''
if update_params:
msg = update_conf_all(confs, msg, frame == 0)
update_params = False
'''
===================================================
push once
===================================================
'''
if frame == 0:
setattr(msg.dragonConf, get_struct_name('dp_locale'), get_locale())
put_nonblocking('dp_is_updating', '0')
'''
===================================================
push ip addr every 10 secs
===================================================
'''
if frame % (HERTZ * 10) == 0:
msg = update_ip(msg)
'''
===================================================
push is_updating status every 5 secs
===================================================
'''
if frame % (HERTZ * 5) == 0:
msg = update_updating(msg)
'''
===================================================
update msg based on some custom logic
===================================================
'''
msg = update_custom_logic(msg)
'''
===================================================
battery ctrl every 30 secs
PowerMonitor in thermald turns back on every mins
so lets turn it off more frequent
===================================================
'''
if frame % (HERTZ * 30) == 0:
last_charging_ctrl = process_charging_ctrl(msg, last_charging_ctrl,
battery_percent)
'''
===================================================
dashcam
===================================================
'''
if msg.dragonConf.dpDashcam and frame % HERTZ == 0:
dashcam.run(started, free_space)
last_dashcam_recorded = True
if last_dashcam_recorded and not msg.dragonConf.dpDashcam:
dashcam.stop()
last_dashcam_recorded = False
'''
===================================================
finalise
===================================================
'''
last_dp_msg = msg.dragonConf
pm.send('dragonConf', msg)
frame += 1
sleep = DELAY - (sec_since_boot() - start_sec)
if sleep > 0:
time.sleep(sleep)
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
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)
# dp
peripheralStateLast = None
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_in = 90
dp_last_modified_auto_shutdown_in = None
dp_fan_mode = 0
dp_fan_mode_last = None
modified = None
last_modified = None
last_modified_check = None
dp_no_offroad_fix = params.get_bool('dp_no_offroad_fix')
if JETSON:
handle_fan = handle_fan_jetson
while True:
# 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
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 not JETSON and 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()
# Fake battery levels on uno for frame
if dp_no_batt:
msg.deviceState.batteryPercent = 100
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(dp_fan_mode, 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]
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())
# dp - check usb_present to fix not going offroad on "EON/LEON + battery - Comma Power"
if dp_no_offroad_fix:
should_start = should_start and HARDWARE.get_usb_present()
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
if not dp_no_batt:
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, dp_auto_shutdown, dp_auto_shutdown_in)
# dp - for battery powered device
# when peripheralState is not changing (panda offline), and usb is not present (not charging)
if dp_no_offroad_fix and (peripheralStateLast == peripheralState) and not msg.deviceState.usbOnline:
if (sec_since_boot() - off_ts) > dp_auto_shutdown_in * 60:
time.sleep(10)
HARDWARE.shutdown()
peripheralStateLast = peripheralState
# Check if we need to shut down
if power_monitor.should_shutdown(peripheralState, startup_conditions["ignition"], in_car, off_ts, started_seen, LEON, dp_auto_shutdown, dp_auto_shutdown_in):
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():
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
should_start_prev = False
handle_fan = None
is_uno = False
has_relay = False
pm = PowerMonitoring()
no_panda_cnt = 0
thermal_config = get_thermal_config()
# dp
dp_temp_monitor = True
dp_last_modified_temp_monitor = None
dp_last_modified_auto_shutdown = None
dp_last_modified_auto_shutdown_in = None
dp_auto_shutdown = False
dp_auto_shutdown_in = 90
dp_allow_shutdown = True
dp_allow_shutdown_last = True
modified = None
last_modified = None
last_modified_check = None
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)
last_modified = modified
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
has_relay = health.health.hwType in [
log.HealthData.HwType.blackPanda,
log.HealthData.HwType.uno, log.HealthData.HwType.dos
]
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)
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 = HARDWARE.get_battery_capacity()
msg.thermal.batteryStatus = HARDWARE.get_battery_status()
msg.thermal.batteryCurrent = HARDWARE.get_battery_current()
msg.thermal.batteryVoltage = HARDWARE.get_battery_voltage()
msg.thermal.usbOnline = HARDWARE.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 (has_relay
and 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
if not dp_temp_monitor and thermal_status in [
ThermalStatus.yellow, 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 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
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')
# dp
if health is None and msg.thermal.usbOnline:
# happen when boot up without panda connected
dp_allow_shutdown = False
elif health is not None and msg.thermal.usbOnline and health.health.hwType == log.HealthData.HwType.unknown:
# happen when panda was there and gone
dp_allow_shutdown = False
else:
dp_allow_shutdown = True
# if allow shutdown status change, we reset off_ts
if dp_allow_shutdown != dp_allow_shutdown_last and off_ts is not None:
off_ts = sec_since_boot()
dp_allow_shutdown_last = dp_allow_shutdown
if dp_allow_shutdown and off_ts is not None and dp_auto_shutdown and sec_since_boot(
) - off_ts >= dp_auto_shutdown_in * 60:
msg.thermal.chargingDisabled = True
shutdown = False
if health is not None:
if health.health.usbPowerMode in [
log.HealthData.UsbPowerMode.client,
log.HealthData.UsbPowerMode.none
]:
shutdown = True
else:
shutdown = True
if shutdown:
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('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
def confd_thread():
sm = messaging.SubMaster(['deviceState'])
pm = messaging.PubMaster(['dragonConf'])
last_dp_msg = None
frame = 0
update_params = False
modified = None
last_modified = None
last_modified_check = None
started = False
free_space = 1
last_started = False
dashcamd = Dashcamd()
is_eon = EON
rk = Ratekeeper(HERTZ, print_delay_threshold=None) # Keeps rate at 2 hz
uploader_thread = None
while True:
if uploader_thread is None:
uploader_thread = threading.Thread(target=gpx_uploader_thread)
uploader_thread.start()
msg = messaging.new_message('dragonConf')
if last_dp_msg is not None:
msg.dragonConf = last_dp_msg
'''
===================================================
load thermalState data every 3 seconds
===================================================
'''
if frame % (HERTZ * 3) == 0:
sm.update(0)
if sm.updated['deviceState']:
started = sm['deviceState'].started
free_space = sm['deviceState'].freeSpacePercent
'''
===================================================
hotspot on boot
we do it after 30 secs just in case
===================================================
'''
if is_eon and frame == (HERTZ * 30) and param_get("dp_hotspot_on_boot", "bool", False):
os.system("service call wifi 37 i32 0 i32 1 &")
'''
===================================================
check dp_last_modified every second
===================================================
'''
if not update_params:
last_modified_check, modified = get_last_modified(LAST_MODIFIED_SYSTEMD, last_modified_check, modified)
if last_modified != modified:
update_params = True
last_modified = modified
'''
===================================================
conditionally set update_params to true
===================================================
'''
# force updating param when `started` changed
if last_started != started:
update_params = True
if frame == 0:
update_params = True
'''
===================================================
push param vals to message
===================================================
'''
if update_params:
msg = update_conf_all(confs, msg, frame == 0)
update_params = False
'''
===================================================
push once
===================================================
'''
if frame == 0:
setattr(msg.dragonConf, get_struct_name('dp_locale'), params.get("dp_locale"))
# mirror EndToEndToggle to dp_lane_less_model_ctrl first time, after all
put_nonblocking('dp_lane_less_mode_ctrl', params.get('EndToEndToggle'))
'''
===================================================
push ip addr every 10 secs
===================================================
'''
if frame % (HERTZ * 10) == 0:
msg = update_ip(msg)
'''
===================================================
update msg based on some custom logic
===================================================
'''
msg = update_custom_logic(msg)
'''
===================================================
battery ctrl every 30 secs
PowerMonitor in thermald turns back on every mins
so lets turn it off more frequent
===================================================
'''
# if frame % (HERTZ * 30) == 0:
# last_charging_ctrl = process_charging_ctrl(msg, last_charging_ctrl, battery_percent)
'''
===================================================
dashcam
===================================================
'''
if msg.dragonConf.dpDashcamd and frame % HERTZ == 0:
dashcamd.run(started, free_space)
# '''
# ===================================================
# appd
# ===================================================
# '''
# if msg.dragonConf.dpAppd:
# appd.update(started)
'''
===================================================
finalise
===================================================
'''
last_dp_msg = msg.dragonConf
last_started = started
pm.send('dragonConf', msg)
frame += 1
rk.keep_time()