misc system/hardware/ cleanup (#36949)

* misc system/hardware/ cleanup

* lil more

* pc is kinda base

* lil more

* lil more

* lil more

* int

* lil more?

system/hardware/.gitignore

@@ -1 +0,0 @@
-eon/rat

system/hardware/base.py

@@ -5,6 +5,7 @@ from dataclasses import dataclass, fields
 from cereal import log
 
 NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
 
 class LPAError(RuntimeError):
   pass
@@ -114,68 +115,57 @@ class HardwareBase(ABC):
   def booted(self) -> bool:
     return True
 
-  @abstractmethod
   def reboot(self, reason=None):
-    pass
+    print("REBOOT!")
 
-  @abstractmethod
   def uninstall(self):
-    pass
+    print("uninstall")
 
-  @abstractmethod
   def get_os_version(self):
-    pass
+    return None
 
   @abstractmethod
   def get_device_type(self):
     pass
 
-  @abstractmethod
   def get_imei(self, slot) -> str:
-    pass
+    return ""
 
-  @abstractmethod
   def get_serial(self):
-    pass
+    return ""
 
-  @abstractmethod
   def get_network_info(self):
-    pass
+    return None
 
-  @abstractmethod
   def get_network_type(self):
-    pass
+    return NetworkType.none
 
-  @abstractmethod
   def get_sim_info(self):
-    pass
+    return {
+      'sim_id': '',
+      'mcc_mnc': None,
+      'network_type': ["Unknown"],
+      'sim_state': ["ABSENT"],
+      'data_connected': False
+    }
 
-  @abstractmethod
   def get_sim_lpa(self) -> LPABase:
-    pass
+    raise NotImplementedError("SIM LPA not available")
 
-  @abstractmethod
   def get_network_strength(self, network_type):
-    pass
+    return NetworkStrength.unknown
 
   def get_network_metered(self, network_type) -> bool:
     return network_type not in (NetworkType.none, NetworkType.wifi, NetworkType.ethernet)
 
-  @staticmethod
-  def set_bandwidth_limit(upload_speed_kbps: int, download_speed_kbps: int) -> None:
-    pass
-
-  @abstractmethod
   def get_current_power_draw(self):
-    pass
+    return 0
 
-  @abstractmethod
   def get_som_power_draw(self):
-    pass
+    return 0
 
-  @abstractmethod
   def shutdown(self):
-    pass
+    print("SHUTDOWN!")
 
   def get_thermal_config(self):
     return ThermalConfig()
@@ -183,31 +173,24 @@ class HardwareBase(ABC):
   def set_display_power(self, on: bool):
     pass
 
-  @abstractmethod
   def set_screen_brightness(self, percentage):
     pass
 
-  @abstractmethod
   def get_screen_brightness(self):
-    pass
+    return 0
 
-  @abstractmethod
   def set_power_save(self, powersave_enabled):
     pass
 
-  @abstractmethod
   def get_gpu_usage_percent(self):
-    pass
+    return 0
 
   def get_modem_version(self):
     return None
 
-  @abstractmethod
   def get_modem_temperatures(self):
-    pass
+    return []
 
-
-  @abstractmethod
   def initialize_hardware(self):
     pass
 
@@ -217,9 +200,8 @@ class HardwareBase(ABC):
   def reboot_modem(self):
     pass
 
-  @abstractmethod
   def get_networks(self):
-    pass
+    return None
 
   def has_internal_panda(self) -> bool:
     return False

system/hardware/fan_controller.py

@@ -1,24 +1,13 @@
 #!/usr/bin/env python3
 import numpy as np
-from abc import ABC, abstractmethod
 
-from openpilot.common.realtime import DT_HW
-from openpilot.common.swaglog import cloudlog
 from openpilot.common.pid import PIDController
 
-class BaseFanController(ABC):
-  @abstractmethod
-  def update(self, cur_temp: float, ignition: bool) -> int:
-    pass
-
-
-class TiciFanController(BaseFanController):
-  def __init__(self) -> None:
-    super().__init__()
-    cloudlog.info("Setting up TICI fan handler")
 
+class FanController:
+  def __init__(self, rate: int) -> None:
     self.last_ignition = False
-    self.controller = PIDController(k_p=0, k_i=4e-3, rate=(1 / DT_HW))
+    self.controller = PIDController(k_p=0, k_i=4e-3, rate=rate)
 
   def update(self, cur_temp: float, ignition: bool) -> int:
     self.controller.pos_limit = 100 if ignition else 30
@@ -26,13 +15,9 @@ class TiciFanController(BaseFanController):
 
     if ignition != self.last_ignition:
       self.controller.reset()
-
-    error = cur_temp - 75
-    fan_pwr_out = int(self.controller.update(
-                      error=error,
-                      feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
-                    ))
-
     self.last_ignition = ignition
-    return fan_pwr_out
 
+    return int(self.controller.update(
+                 error=(cur_temp - 75),  # temperature setpoint in C
+                 feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
+              ))

system/hardware/hardwared.py

@@ -22,7 +22,7 @@ from openpilot.system.loggerd.config import get_available_percent
 from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
-from openpilot.system.hardware.fan_controller import TiciFanController
+from openpilot.system.hardware.fan_controller import FanController
 from openpilot.system.version import terms_version, training_version
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
@@ -210,14 +210,13 @@ def hardware_thread(end_event, hw_queue) -> None:
   HARDWARE.initialize_hardware()
   thermal_config = HARDWARE.get_thermal_config()
 
-  fan_controller = None
+  fan_controller = FanController(int(1./DT_HW))
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
 
     pandaStates = sm['pandaStates']
     peripheralState = sm['peripheralState']
-    peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
 
     # handle requests to cycle system started state
     if params.get_bool("OnroadCycleRequested"):
@@ -234,11 +233,6 @@ def hardware_thread(end_event, hw_queue) -> None:
 
       in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected
 
-      # Setup fan handler on first connect to panda
-      if fan_controller is None and peripheral_panda_present:
-        if TICI:
-          fan_controller = TiciFanController()
-
     elif (time.monotonic() - sm.recv_time['pandaStates']) > DISCONNECT_TIMEOUT:
       if onroad_conditions["ignition"]:
         onroad_conditions["ignition"] = False
@@ -289,8 +283,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     all_comp_temp = all_temp_filter.update(max(temp_sources))
     msg.deviceState.maxTempC = all_comp_temp
 
-    if fan_controller is not None:
-      msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
+    msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
 
     is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:

system/hardware/pc/hardware.h

@@ -6,7 +6,6 @@
 
 class HardwarePC : public HardwareNone {
 public:
-  static std::string get_os_version() { return "openpilot for PC"; }
   static std::string get_name() { return "pc"; }
   static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }
   static bool PC() { return true; }

system/hardware/pc/hardware.py

@@ -1,78 +1,12 @@
-import random
-
 from cereal import log
-from openpilot.system.hardware.base import HardwareBase, LPABase
+from openpilot.system.hardware.base import HardwareBase
 
 NetworkType = log.DeviceState.NetworkType
-NetworkStrength = log.DeviceState.NetworkStrength
+
 
 class Pc(HardwareBase):
-  def get_os_version(self):
-    return None
-
   def get_device_type(self):
     return "pc"
 
-  def reboot(self, reason=None):
-    print("REBOOT!")
-
-  def uninstall(self):
-    print("uninstall")
-
-  def get_imei(self, slot):
-    return f"{random.randint(0, 1 << 32):015d}"
-
-  def get_serial(self):
-    return "cccccccc"
-
-  def get_network_info(self):
-    return None
-
   def get_network_type(self):
     return NetworkType.wifi
-
-  def get_sim_info(self):
-    return {
-      'sim_id': '',
-      'mcc_mnc': None,
-      'network_type': ["Unknown"],
-      'sim_state': ["ABSENT"],
-      'data_connected': False
-    }
-
-  def get_sim_lpa(self) -> LPABase:
-    raise NotImplementedError("SIM LPA not implemented for PC")
-
-  def get_network_strength(self, network_type):
-    return NetworkStrength.unknown
-
-  def get_current_power_draw(self):
-    return 0
-
-  def get_som_power_draw(self):
-    return 0
-
-  def shutdown(self):
-    print("SHUTDOWN!")
-
-  def set_screen_brightness(self, percentage):
-    pass
-
-  def get_screen_brightness(self):
-    return 0
-
-  def set_power_save(self, powersave_enabled):
-    pass
-
-  def get_gpu_usage_percent(self):
-    return 0
-
-  def get_modem_temperatures(self):
-    return []
-
-
-  def initialize_hardware(self):
-    pass
-
-  def get_networks(self):
-    return None

system/hardware/tests/test_fan_controller.py

@@ -1,12 +1,12 @@
 import pytest
 
-from openpilot.system.hardware.fan_controller import TiciFanController
+from openpilot.system.hardware.fan_controller import FanController
 
-ALL_CONTROLLERS = [TiciFanController]
+ALL_CONTROLLERS = [FanController]
 
 def patched_controller(mocker, controller_class):
   mocker.patch("os.system", new=mocker.Mock())
-  return controller_class()
+  return controller_class(2)
 
 class TestFanController:
   def wind_up(self, controller, ignition=True):

system/hardware/tici/amplifier.py

@@ -6,23 +6,8 @@ from collections import namedtuple
 # https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf
 
 AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask'])
-EQParams = namedtuple('EQParams', ['K', 'k1', 'k2', 'c1', 'c2'])
 
-def configs_from_eq_params(base, eq_params):
-  return [
-    AmpConfig("K (high)", (eq_params.K >> 8), base, 0, 0xFF),
-    AmpConfig("K (low)", (eq_params.K & 0xFF), base + 1, 0, 0xFF),
-    AmpConfig("k1 (high)", (eq_params.k1 >> 8), base + 2, 0, 0xFF),
-    AmpConfig("k1 (low)", (eq_params.k1 & 0xFF), base + 3, 0, 0xFF),
-    AmpConfig("k2 (high)", (eq_params.k2 >> 8), base + 4, 0, 0xFF),
-    AmpConfig("k2 (low)", (eq_params.k2 & 0xFF), base + 5, 0, 0xFF),
-    AmpConfig("c1 (high)", (eq_params.c1 >> 8), base + 6, 0, 0xFF),
-    AmpConfig("c1 (low)", (eq_params.c1 & 0xFF), base + 7, 0, 0xFF),
-    AmpConfig("c2 (high)", (eq_params.c2 >> 8), base + 8, 0, 0xFF),
-    AmpConfig("c2 (low)", (eq_params.c2 & 0xFF), base + 9, 0, 0xFF),
-  ]
-
-BASE_CONFIG = [
+CONFIG = [
   AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
   AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
   AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
@@ -58,35 +43,31 @@ BASE_CONFIG = [
   AmpConfig("Enhanced volume smoothing disabled", 0b0, 0x49, 7, 0b10000000),
   AmpConfig("Volume adjustment smoothing disabled", 0b0, 0x49, 6, 0b01000000),
   AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000),
+
+  AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
+  AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+  AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
+  AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+  AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
+  AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
+
+  AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
+  AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
+  AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
+  AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
+  AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000),
+  AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111),
+  AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000),
+  AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001),
+  AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000),
+  AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000),
+  AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000),
+  AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000),
+  AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
+  AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
+  AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
 ]
 
-CONFIGS = {
-  "tizi": [
-    AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
-    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
-    AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
-    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
-    AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
-    AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
-
-    AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
-    AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
-    AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
-    AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
-    AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000),
-    AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111),
-    AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000),
-    AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001),
-    AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000),
-    AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000),
-    AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000),
-    AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000),
-    AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
-    AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
-    AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
-  ],
-}
-
 class Amplifier:
   AMP_I2C_BUS = 0
   AMP_ADDRESS = 0x10
@@ -127,20 +108,15 @@ class Amplifier:
   def set_global_shutdown(self, amp_disabled: bool) -> bool:
     return self.set_configs([self._get_shutdown_config(amp_disabled), ])
 
-  def initialize_configuration(self, model: str) -> bool:
+  def initialize_configuration(self) -> bool:
     cfgs = [
       self._get_shutdown_config(True),
-      *BASE_CONFIG,
-      *CONFIGS[model],
+      *CONFIG,
       self._get_shutdown_config(False),
     ]
     return self.set_configs(cfgs)
 
 
 if __name__ == "__main__":
-  with open("/sys/firmware/devicetree/base/model") as f:
-    model = f.read().strip('\x00')
-  model = model.split('comma ')[-1]
-
   amp = Amplifier()
-  amp.initialize_configuration(model)
+  amp.initialize_configuration()

system/hardware/tici/hardware.py

@@ -125,7 +125,7 @@ class Tici(HardwareBase):
       return int(f.read())
 
   def set_ir_power(self, percent: int):
-    if self.get_device_type() in ("tici", "tizi"):
+    if self.get_device_type() == "tizi":
       return
 
     value = int((percent / 100) * 300)
@@ -369,7 +369,7 @@ class Tici(HardwareBase):
     if self.amplifier is not None:
       self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
       if not powersave_enabled:
-        self.amplifier.initialize_configuration(self.get_device_type())
+        self.amplifier.initialize_configuration()
 
     # *** CPU config ***
 
@@ -404,7 +404,7 @@ class Tici(HardwareBase):
 
   def initialize_hardware(self):
     if self.amplifier is not None:
-      self.amplifier.initialize_configuration(self.get_device_type())
+      self.amplifier.initialize_configuration()
 
     # Allow hardwared to write engagement status to kmsg
     os.system("sudo chmod a+w /dev/kmsg")

system/hardware/tici/tests/test_amplifier.py

@@ -5,7 +5,6 @@ import subprocess
 
 from panda import Panda
 from openpilot.system.hardware import TICI, HARDWARE
-from openpilot.system.hardware.tici.hardware import Tici
 from openpilot.system.hardware.tici.amplifier import Amplifier
 
 
@@ -39,7 +38,7 @@ class TestAmplifier:
 
   def test_init(self):
     amp = Amplifier(debug=True)
-    r = amp.initialize_configuration(Tici().get_device_type())
+    r = amp.initialize_configuration()
     assert r
     assert self._check_for_i2c_errors(False)
 
@@ -61,7 +60,7 @@ class TestAmplifier:
       time.sleep(random.randint(0, 5))
 
       amp = Amplifier(debug=True)
-      r = amp.initialize_configuration(Tici().get_device_type())
+      r = amp.initialize_configuration()
       assert r
 
       if self._check_for_i2c_errors(True):