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thermald: remove panda disconnect logic #23526

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merged 2 commits into from
Jan 14, 2022
Merged

thermald: remove panda disconnect logic #23526

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4cc9446
thermald: remove panda disconnect logic
pd0wm Jan 14, 2022
4d14164
keep that
pd0wm Jan 14, 2022
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1 change: 0 additions & 1 deletion common/params_pyx.pyx
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,6 @@ cdef extern from "selfdrive/common/params.h":
cpdef enum ParamKeyType:
PERSISTENT
CLEAR_ON_MANAGER_START
CLEAR_ON_PANDA_DISCONNECT
CLEAR_ON_IGNITION_ON
CLEAR_ON_IGNITION_OFF
ALL
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8 changes: 0 additions & 8 deletions common/tests/test_params.py
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Expand Up @@ -24,14 +24,6 @@ def test_params_non_ascii(self):
self.params.put("CarParams", st)
assert self.params.get("CarParams") == st

def test_params_get_cleared_panda_disconnect(self):
self.params.put("CarParams", "test")
self.params.put("DongleId", "cb38263377b873ee")
assert self.params.get("CarParams") == b"test"
self.params.clear_all(ParamKeyType.CLEAR_ON_PANDA_DISCONNECT)
assert self.params.get("CarParams") is None
assert self.params.get("DongleId") is not None

def test_params_get_cleared_manager_start(self):
self.params.put("CarParams", "test")
self.params.put("DongleId", "cb38263377b873ee")
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10 changes: 5 additions & 5 deletions selfdrive/common/params.cc
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Expand Up @@ -88,12 +88,12 @@ std::unordered_map<std::string, uint32_t> keys = {
{"AthenadUploadQueue", PERSISTENT},
{"CalibrationParams", PERSISTENT},
{"CarBatteryCapacity", PERSISTENT},
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
{"CarParamsCache", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CarParamsCache", CLEAR_ON_MANAGER_START},
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CommunityFeaturesToggle", PERSISTENT},
{"CompletedTrainingVersion", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT | CLEAR_ON_IGNITION_ON},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DisablePowerDown", PERSISTENT},
{"DisableRadar_Allow", PERSISTENT},
Expand Down Expand Up @@ -163,7 +163,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"ApiCache_NavDestinations", PERSISTENT},
{"ApiCache_Owner", PERSISTENT},
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"Offroad_ChargeDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
{"Offroad_ChargeDisabled", CLEAR_ON_MANAGER_START },
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
{"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
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7 changes: 3 additions & 4 deletions selfdrive/common/params.h
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Expand Up @@ -6,10 +6,9 @@
enum ParamKeyType {
PERSISTENT = 0x02,
CLEAR_ON_MANAGER_START = 0x04,
CLEAR_ON_PANDA_DISCONNECT = 0x08,
CLEAR_ON_IGNITION_ON = 0x10,
CLEAR_ON_IGNITION_OFF = 0x20,
DONT_LOG = 0x40,
CLEAR_ON_IGNITION_ON = 0x08,
CLEAR_ON_IGNITION_OFF = 0x10,
DONT_LOG = 0x20,
ALL = 0xFFFFFFFF
};

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21 changes: 2 additions & 19 deletions selfdrive/thermald/thermald.py
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Expand Up @@ -13,7 +13,7 @@
from cereal import log
from common.filter_simple import FirstOrderFilter
from common.numpy_fast import interp
from common.params import Params, ParamKeyType
from common.params import Params
from common.realtime import DT_TRML, sec_since_boot
from common.dict_helpers import strip_deprecated_keys
from selfdrive.controls.lib.alertmanager import set_offroad_alert
Expand Down Expand Up @@ -185,7 +185,6 @@ def thermald_thread() -> NoReturn:

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
Expand All @@ -195,7 +194,6 @@ def thermald_thread() -> NoReturn:

params = Params()
power_monitor = PowerMonitoring()
no_panda_cnt = 0

HARDWARE.initialize_hardware()
thermal_config = HARDWARE.get_thermal_config()
Expand All @@ -214,15 +212,7 @@ def thermald_thread() -> NoReturn:
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 onroad_conditions["ignition"]:
cloudlog.error("Lost panda connection while onroad")
onroad_conditions["ignition"] = False
else:
no_panda_cnt = 0
if pandaState.pandaType != log.PandaState.PandaType.unknown:
onroad_conditions["ignition"] = pandaState.ignitionLine or pandaState.ignitionCan

in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected
Expand All @@ -243,13 +233,6 @@ def thermald_thread() -> NoReturn:
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:
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