mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-12 23:43:44 +08:00
Daniel Koepping
f33318be4b
chestnut: fix offroad alert (cherry picked from commit 948ad05c6ceb7eed4cd18eb75f048ddd3230e3c1)
104 lines
4.6 KiB
Python
104 lines
4.6 KiB
Python
import time
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from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, is_chestnut_usb_id
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CHESTNUT_RELEASE_BRANCHES = ("release-chestnut", "release-chestnut-staging", "nightly-chestnut", "nightly-chestnut-dev")
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CHESTNUT_POWERED_VOLTAGE = 5000
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GPU_TEMP_LIMIT = 100.
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MEMORY_TEMP_LIMIT = 95.
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TEMP_HYSTERESIS = 5.
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class ChestnutStatus:
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def __init__(self):
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self.started = time.monotonic()
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self.offroad = True
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self.pcie_failed = False
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self.power_seen = False
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self.power_unavailable = False
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self.power_lost = False
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self.power_restored = False
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self.link_failures = 0
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self.model_loading_seen = False
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self.model_attempted = False
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self.model_failed = False
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self.overheated = False
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self.usb_seen = False
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self.usb_failed = False
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def update(self, offroad: bool, branch: str, usb_state: list[dict], firmware_failed: bool,
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model_loading: bool, model_active: bool | None, state, set_alert) -> None:
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detected = [d for d in usb_state if is_chestnut_usb_id(d["vendorId"], d["productId"], include_bootloader=True)]
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devices = [d for d in detected if is_chestnut_usb_id(d["vendorId"], d["productId"])]
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firmware_ok = len(devices) == 1 and devices[0]["product"] == CHESTNUT_USB_PRODUCT
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if self.offroad and not offroad:
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self.pcie_failed = False
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self.power_seen = False
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self.power_unavailable = False
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self.power_lost = False
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self.power_restored = False
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self.link_failures = 0
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self.model_loading_seen = False
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self.model_attempted = False
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self.model_failed = False
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self.usb_seen = firmware_ok
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self.usb_failed = False
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self.model_loading_seen |= model_loading
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self.model_attempted |= self.model_loading_seen and not model_loading and model_active is not None
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self.model_failed |= not offroad and self.model_attempted and model_active is False and len(detected) > 0
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if not offroad and self.usb_seen and len(devices) != 1:
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self.usb_failed = True
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if offroad and len(devices) == 1:
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self.usb_failed = False
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if not offroad and state is not None:
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powered = state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE
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power_lost = state.supplyFault or not powered
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if self.model_attempted and power_lost and not self.power_lost:
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self.power_unavailable = not self.power_seen
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self.power_seen |= powered
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if not offroad and self.model_attempted and state is not None:
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self.link_failures = self.link_failures + 1 if state.pcieLtssm != 0x78 else 0
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self.pcie_failed |= self.link_failures >= 2 or power_lost
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self.power_lost |= power_lost
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if self.pcie_failed and self.power_lost and state is not None:
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self.power_restored |= not state.supplyFault and state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE
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if self.usb_failed:
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self.pcie_failed = False
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self.power_seen = False
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self.power_unavailable = False
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self.power_lost = False
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self.power_restored = False
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self.model_failed = False
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if state is not None:
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gpu_limit = GPU_TEMP_LIMIT - (TEMP_HYSTERESIS if self.overheated else 0.)
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memory_limit = MEMORY_TEMP_LIMIT - (TEMP_HYSTERESIS if self.overheated else 0.)
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self.overheated = state.tempC >= gpu_limit or state.memoryTempC >= memory_limit
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# modeld selects a present, compiled Chestnut independently of the Git
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# branch. Compiled big-model artifacts do not imply installed hardware.
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expected = branch in CHESTNUT_RELEASE_BRANCHES
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missing = self.usb_failed or (offroad and expected and time.monotonic() - self.started > 10. and len(detected) != 1)
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slow_usb = offroad and len(devices) == 1 and devices[0]["speedMbps"] < 5000
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set_alert("Offroad_ChestnutBranch", False)
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set_alert("Offroad_ChestnutNotDetected", missing)
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set_alert("Offroad_ChestnutOverheated", self.overheated)
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set_alert("Offroad_ChestnutUsbSlow", slow_usb, f"{devices[0]['speedMbps']} Mbps" if slow_usb else None)
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if self.power_lost:
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pcie_alert = ("Chestnut power restored. Restart the car to retry." if self.power_restored else
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"Chestnut power disconnected. Check the 12V connection, then restart the car." if self.power_unavailable else
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"Chestnut power lost. Check the 12V connection, then restart the car.")
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else:
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pcie_alert = "Chestnut GPU unavailable. Check the GPU is securely seated, then restart the car."
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set_alert("Offroad_ChestnutPcieUnavailable", self.pcie_failed, pcie_alert)
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set_alert("Offroad_ChestnutModelError", self.model_failed and not (missing or self.pcie_failed))
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set_alert("Offroad_ChestnutUpdateFailed", offroad and firmware_failed)
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self.offroad = offroad
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