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') 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 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 fw_version_match_prev = True current_update_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" 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.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: set_offroad_alert("Offroad_InvalidTime", False) if not time_valid and time_valid_prev: set_offroad_alert("Offroad_InvalidTime", True) 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) 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 if current_update_alert != "update" + extra_text: current_update_alert = "update" + extra_text set_offroad_alert("Offroad_ConnectivityNeeded", False) set_offroad_alert("Offroad_ConnectivityNeededPrompt", False) set_offroad_alert("Offroad_UpdateFailed", True, extra_text=extra_text) elif dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1: if current_update_alert != "expired": current_update_alert = "expired" set_offroad_alert("Offroad_UpdateFailed", False) set_offroad_alert("Offroad_ConnectivityNeededPrompt", False) set_offroad_alert("Offroad_ConnectivityNeeded", True) elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT: remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0)) if current_update_alert != "prompt" + remaining_time: current_update_alert = "prompt" + remaining_time set_offroad_alert("Offroad_UpdateFailed", False) set_offroad_alert("Offroad_ConnectivityNeeded", False) set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining_time} days.") elif current_update_alert is not None: current_update_alert = None set_offroad_alert("Offroad_UpdateFailed", False) set_offroad_alert("Offroad_ConnectivityNeeded", False) set_offroad_alert("Offroad_ConnectivityNeededPrompt", False) 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: set_offroad_alert("Offroad_PandaFirmwareMismatch", False) if not fw_version_match and fw_version_match_prev: set_offroad_alert("Offroad_PandaFirmwareMismatch", True) # 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: set_offroad_alert("Offroad_TemperatureTooHigh", True) else: if thermal_status_prev >= ThermalStatus.danger: set_offroad_alert("Offroad_TemperatureTooHigh", False) 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') # Offroad power monitoring pm.calculate(health) msg.thermal.offroadPowerUsage = pm.get_power_used() msg.thermal.carBatteryCapacity = 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): 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: set_offroad_alert("Offroad_ChargeDisabled", True) elif usb_power and not usb_power_prev: set_offroad_alert("Offroad_ChargeDisabled", False) 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
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) health_prev = None fw_version_match_prev = True current_connectivity_alert = None time_valid_prev = True should_start_prev = False is_uno = (read_tz(29, clip=False) < -1000) if is_uno or not ANDROID: handle_fan = handle_fan_uno else: setup_eon_fan() handle_fan = handle_fan_eon params = Params() while 1: health = messaging.recv_sock(health_sock, wait=True) location = messaging.recv_sock(location_sock) location = location.gpsLocation if location else None msg = read_thermal() # clear car params when panda gets disconnected if health is None and health_prev is not None: params.panda_disconnect() health_prev = health if health is not None: usb_power = health.health.usbPowerMode != log.HealthData.UsbPowerMode.client # get_network_type is an expensive call. update every 10s if (count % int(10. / DT_TRML)) == 0: try: network_type = get_network_type() 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 try: with open("/sys/class/power_supply/battery/capacity") as f: msg.thermal.batteryPercent = int(f.read()) with open("/sys/class/power_supply/battery/status") as f: msg.thermal.batteryStatus = f.read().strip() with open("/sys/class/power_supply/battery/current_now") as f: msg.thermal.batteryCurrent = int(f.read()) with open("/sys/class/power_supply/battery/voltage_now") as f: msg.thermal.batteryVoltage = int(f.read()) with open("/sys/class/power_supply/usb/present") as f: msg.thermal.usbOnline = bool(int(f.read())) except FileNotFoundError: pass # Fake battery levels on uno for frame if is_uno: msg.thermal.batteryPercent = 100 msg.thermal.batteryStatus = "Charging" current_filter.update(msg.thermal.batteryCurrent / 1e6) # TODO: add car battery voltage check max_cpu_temp = max(msg.thermal.cpu0, msg.thermal.cpu1, msg.thermal.cpu2, msg.thermal.cpu3) / 10.0 max_comp_temp = max(max_cpu_temp, msg.thermal.mem / 10., msg.thermal.gpu / 10.) bat_temp = msg.thermal.bat / 1000. fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed, ignition) msg.thermal.fanSpeed = fan_speed # thermal logic with hysterisis if max_cpu_temp > 107. or bat_temp >= 63.: # onroad not allowed thermal_status = ThermalStatus.danger elif max_comp_temp > 92.5 or bat_temp > 60.: # CPU throttling starts around ~90C # hysteresis between onroad not allowed and engage not allowed thermal_status = clip(thermal_status, ThermalStatus.red, ThermalStatus.danger) elif max_cpu_temp > 87.5: # hysteresis between engage not allowed and uploader not allowed thermal_status = clip(thermal_status, ThermalStatus.yellow, ThermalStatus.red) elif max_cpu_temp > 80.0: # uploader not allowed thermal_status = ThermalStatus.yellow elif max_cpu_temp > 75.0: # hysteresis between uploader not allowed and all good thermal_status = clip(thermal_status, ThermalStatus.green, ThermalStatus.yellow) else: # all good thermal_status = ThermalStatus.green # **** starting logic **** # Check for last update time and display alerts if needed now = datetime.datetime.now() # show invalid date/time alert time_valid = now.year >= 2019 if time_valid and not time_valid_prev: params.delete("Offroad_InvalidTime") if not time_valid and time_valid_prev: params.put("Offroad_InvalidTime", json.dumps(OFFROAD_ALERTS["Offroad_InvalidTime"])) time_valid_prev = time_valid # Show update prompt try: last_update = datetime.datetime.fromisoformat( params.get("LastUpdateTime", encoding='utf8')) except (TypeError, ValueError): last_update = now dt = now - last_update update_failed_count = params.get("UpdateFailedCount") update_failed_count = 0 if update_failed_count is None else int( update_failed_count) if dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1: if current_connectivity_alert != "expired": current_connectivity_alert = "expired" params.delete("Offroad_ConnectivityNeededPrompt") params.put( "Offroad_ConnectivityNeeded", json.dumps(OFFROAD_ALERTS["Offroad_ConnectivityNeeded"])) elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT: remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0)) if current_connectivity_alert != "prompt" + remaining_time: current_connectivity_alert = "prompt" + remaining_time alert_connectivity_prompt = copy.copy( OFFROAD_ALERTS["Offroad_ConnectivityNeededPrompt"]) alert_connectivity_prompt["text"] += remaining_time + " days." params.delete("Offroad_ConnectivityNeeded") params.put("Offroad_ConnectivityNeededPrompt", json.dumps(alert_connectivity_prompt)) elif current_connectivity_alert is not None: current_connectivity_alert = None params.delete("Offroad_ConnectivityNeeded") params.delete("Offroad_ConnectivityNeededPrompt") # start constellation of processes when the car starts ignition = health is not None and (health.health.ignitionLine or health.health.ignitionCan) do_uninstall = params.get("DoUninstall") == b"1" accepted_terms = params.get("HasAcceptedTerms") == terms_version completed_training = params.get( "CompletedTrainingVersion") == training_version panda_signature = params.get("PandaFirmware") fw_version_match = (panda_signature is None) or ( panda_signature == FW_SIGNATURE ) # don't show alert is no panda is connected (None) should_start = ignition # with 2% left, we killall, otherwise the phone will take a long time to boot should_start = should_start and msg.thermal.freeSpace > 0.02 # confirm we have completed training and aren't uninstalling should_start = should_start and accepted_terms and completed_training and ( not do_uninstall) # check for firmware mismatch should_start = should_start and fw_version_match # check if system time is valid should_start = should_start and time_valid # don't start while taking snapshot if not should_start_prev: is_taking_snapshot = params.get("IsTakingSnapshot") == b"1" should_start = should_start and (not is_taking_snapshot) if fw_version_match and not fw_version_match_prev: params.delete("Offroad_PandaFirmwareMismatch") if not fw_version_match and fw_version_match_prev: params.put( "Offroad_PandaFirmwareMismatch", json.dumps(OFFROAD_ALERTS["Offroad_PandaFirmwareMismatch"])) # if any CPU gets above 107 or the battery gets above 63, kill all processes # controls will warn with CPU above 95 or battery above 60 if thermal_status >= ThermalStatus.danger: should_start = False if thermal_status_prev < ThermalStatus.danger: params.put( "Offroad_TemperatureTooHigh", json.dumps(OFFROAD_ALERTS["Offroad_TemperatureTooHigh"])) else: if thermal_status_prev >= ThermalStatus.danger: params.delete("Offroad_TemperatureTooHigh") if should_start: if not should_start_prev: params.delete("IsOffroad") off_ts = None if started_ts is None: started_ts = sec_since_boot() started_seen = True os.system( 'echo performance > /sys/class/devfreq/soc:qcom,cpubw/governor' ) else: if should_start_prev or (count == 0): params.put("IsOffroad", "1") started_ts = None if off_ts is None: off_ts = sec_since_boot() os.system( 'echo powersave > /sys/class/devfreq/soc:qcom,cpubw/governor' ) # shutdown if the battery gets lower than 3%, it's discharging, we aren't running for # more than a minute but we were running if msg.thermal.batteryPercent < BATT_PERC_OFF and msg.thermal.batteryStatus == "Discharging" and \ started_seen and (sec_since_boot() - off_ts) > 60: os.system('LD_LIBRARY_PATH="" svc power shutdown') msg.thermal.chargingError = current_filter.x > 0. and msg.thermal.batteryPercent < 90 # if current is positive, then battery is being discharged msg.thermal.started = started_ts is not None msg.thermal.startedTs = int(1e9 * (started_ts or 0)) msg.thermal.thermalStatus = thermal_status thermal_sock.send(msg.to_bytes()) if usb_power_prev and not usb_power: params.put("Offroad_ChargeDisabled", json.dumps(OFFROAD_ALERTS["Offroad_ChargeDisabled"])) elif usb_power and not usb_power_prev: params.delete("Offroad_ChargeDisabled") thermal_status_prev = thermal_status usb_power_prev = usb_power fw_version_match_prev = fw_version_match should_start_prev = should_start #print(msg) # report to server once per minute if (count % int(60. / DT_TRML)) == 0: cloudlog.event("STATUS_PACKET", count=count, health=(health.to_dict() if health else None), location=(location.to_dict() if location else None), thermal=msg.to_dict()) count += 1
def thermald_thread(): # prevent LEECO from undervoltage BATT_PERC_OFF = 90 #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 params = Params() pm = PowerMonitoring() no_panda_cnt = 0 IsOpenpilotViewEnabled = 0 OpkrLoadStep = 0 OpkrAutoShutdown = 0 do_uninstall = 0 accepted_terms = 0 completed_training = 0 panda_signature = 0 while 1: OpkrLoadStep += 1 if OpkrLoadStep == 1: OpkrAutoShutdown = params.get_OpkrAutoShutdown() elif OpkrLoadStep == 2: do_uninstall = params.get("DoUninstall") == b"1" elif OpkrLoadStep == 3: accepted_terms = params.get("HasAcceptedTerms") == terms_version elif OpkrLoadStep == 4: completed_training = params.get( "CompletedTrainingVersion") == training_version elif OpkrLoadStep == 5: panda_signature = params.get("PandaFirmware") else: OpkrLoadStep = 0 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 # 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 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 elif ignition == False or IsOpenpilotViewEnabled: IsOpenpilotViewEnabled = int(params.get("IsOpenpilotViewEnabled")) ignition = IsOpenpilotViewEnabled # 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 # 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") 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") """ #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) #ignition = True # 영상보기. 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") current_ts = sec_since_boot() if should_start: if not should_start_prev: params.delete("IsOffroad") off_ts = None if started_ts is None: started_ts = current_ts 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 = current_ts 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 power_shutdown = False if msg.thermal.batteryStatus == "Discharging": delta_ts = current_ts - off_ts if started_seen: if msg.thermal.batteryPercent <= BATT_PERC_OFF and ( OpkrAutoShutdown and delta_ts > OpkrAutoShutdown): power_shutdown = True elif delta_ts > 240 and msg.thermal.batteryPercent < 10: power_shutdown = True if power_shutdown: os.system('LD_LIBRARY_PATH="" svc power shutdown') print('power_shutdown batterypercent={} should_start={}'. format(msg.thermal.batteryPercent, should_start)) else: off_ts = current_ts #print( 'OpkrAutoShutdown = {}'.format( OpkrAutoShutdown ) ) #if msg.thermal.batteryPercent < BATT_PERC_OFF and msg.thermal.batteryStatus == "Discharging" and \ # started_seen and (current_ts - off_ts) > 60: # os.system('LD_LIBRARY_PATH="" svc power shutdown') # print( 'batterypercent={} should_start={}'.format(msg.thermal.batteryPercent, should_start) ) # Offroad power monitoring pm.calculate(health, msg) 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 if usb_power: pm.charging_ctrl(msg, ts, 60, 40) # 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(): # prevent LEECO from undervoltage BATT_PERC_OFF = 100 #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 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 IsOpenpilotViewEnabled = 0 do_uninstall = 0 accepted_terms = 0 completed_training = 0 panda_signature = 0 ts_last_ip = 0 ip_addr = '255.255.255.255' # sound trigger sound_trigger = 1 env = dict(os.environ) env['LD_LIBRARY_PATH'] = mediaplayer getoff_alert = Params().get('OpkrEnableGetoffAlert') == b'1' OpkrAutoShutdown = params.get_OpkrAutoShutdown() 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 # 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 elif ignition == False or IsOpenpilotViewEnabled: IsOpenpilotViewEnabled = int( params.get("IsOpenpilotViewEnabled") ) ignition = IsOpenpilotViewEnabled # 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 - 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 # 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') if 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 msg.thermal.batteryPercent <= BATT_PERC_OFF and msg.thermal.batteryStatus == "Discharging" and \ started_seen and OpkrAutoShutdown and (sec_since_boot() - off_ts) > OpkrAutoShutdown: os.system('LD_LIBRARY_PATH="" svc power shutdown') 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) 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 if usb_power: pm.charging_ctrl( msg, ts, 80, 70 ) # 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(): # 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 pm = PowerMonitoring() no_panda_cnt = 0 # dp ts_last_ip = 0 ts_last_update_vars = 0 ts_last_charging_ctrl = None dp_last_modified = None ip_addr = '255.255.255.255' dragon_charging_ctrl = False dragon_charging_ctrl_prev = False dragon_to_discharge = 70 dragon_to_charge = 60 dp_temp_monitor = True while 1: # dp ts = sec_since_boot() # update variable status every 10 secs if ts - ts_last_update_vars >= 10.: modified = get_last_modified() if dp_last_modified != modified: dp_temp_monitor = False if params.get('DragonEnableTempMonitor', encoding='utf8') == "0" else True if not is_uno: dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False if dragon_charging_ctrl: try: dragon_to_discharge = int(params.get('DragonCharging', encoding='utf8')) except (TypeError, ValueError): dragon_to_discharge = 70 try: dragon_to_charge = int(params.get('DragonDisCharging', encoding='utf8')) except (TypeError, ValueError): dragon_to_charge = 60 else: dragon_charging_ctrl = False dp_last_modified = modified ts_last_update_vars = ts 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 handle_fan is None and params.get('DragonNoctuaMode', encoding='utf8') == "1": setup_eon_fan() handle_fan = handle_fan_eon 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 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" # dp # 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.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 if not dp_temp_monitor and thermal_status in [ThermalStatus.yellow, ThermalStatus.red, ThermalStatus.danger]: thermal_status = ThermalStatus.yellow # **** starting logic **** time_valid = True # 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 if dragon_charging_ctrl != dragon_charging_ctrl_prev: set_battery_charging(True) if dragon_charging_ctrl: if ts_last_charging_ctrl is None or ts - ts_last_charging_ctrl >= 60.: if msg.thermal.batteryPercent >= dragon_to_discharge and get_battery_charging(): set_battery_charging(False) elif msg.thermal.batteryPercent <= dragon_to_charge and not get_battery_charging(): set_battery_charging(True) ts_last_charging_ctrl = ts dragon_charging_ctrl_prev = dragon_charging_ctrl # 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