hotplug

selfdrive/ui/mici/layouts/home.py

@@ -280,7 +280,7 @@ class MiciHomeLayout(Widget):
       self._version_commit_label.render()
 
     # ***** Center-aligned bottom section icons *****
-    self._egpu_icon.set_visible(ui_state.usbgpu_active)
+    self._egpu_icon.set_visible(ui_state.usbgpu and ui_state.usbgpu_active)
     self._egpu_icon_gray.set_visible(ui_state.usbgpu and not ui_state.usbgpu_active)
     self._mic_icon.set_visible(ui_state.recording_audio)
 

selfdrive/ui/ui_state.py

@@ -1,6 +1,7 @@
 import json
 import pyray as rl
 import numpy as np
+import socket
 import time
 import threading
 from collections.abc import Callable
@@ -10,9 +11,12 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
+from openpilot.selfdrive.modeld.helpers import usbgpu_present
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.hardware import HARDWARE, PC
 
+NETLINK_KOBJECT_UEVENT = 15
+
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
 
 
@@ -81,9 +85,20 @@ class UIState:
     self.is_metric: bool = self.params.get_bool("IsMetric")
     self.is_release = self.params.get_bool("IsReleaseBranch")
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
-    self.usbgpu: bool = self.params.get_bool("UsbGpuPresent")
+    self.usbgpu: bool = usbgpu_present()
     self.usbgpu_compiled: bool = self.params.get_bool("UsbGpuCompiled")
     self.usbgpu_active: bool = self.params.get_bool("UsbGpuActive")
+    self._uevents: socket.socket | None = None
+    if hasattr(socket, "AF_NETLINK"):
+      try:
+        self._uevents = socket.socket(socket.AF_NETLINK, socket.SOCK_DGRAM, NETLINK_KOBJECT_UEVENT)
+        self._uevents.bind((0, 1))
+        self._uevents.setblocking(False)
+      except OSError:
+        cloudlog.exception("failed to monitor USB hotplug events")
+        if self._uevents is not None:
+          self._uevents.close()
+          self._uevents = None
     self.started: bool = False
     self.ignition: bool = False
     self.recording_audio: bool = False
@@ -185,7 +200,16 @@ class UIState:
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.always_on_dm = self.params.get_bool("AlwaysOnDM")
-    self.usbgpu = self.params.get_bool("UsbGpuPresent")
+    if self._uevents is not None:
+      try:
+        while self._uevents.recv(4096):
+          self.usbgpu = usbgpu_present()
+      except BlockingIOError:
+        pass
+      except OSError:
+        cloudlog.exception("failed to read USB hotplug event")
+        self._uevents.close()
+        self._uevents = None
     self.usbgpu_compiled = self.params.get_bool("UsbGpuCompiled")
     self.usbgpu_active = self.params.get_bool("UsbGpuActive")
     self.switchback_mode_enabled = self.params_memory.get_bool("SwitchbackModeEnabled") if self.started else False