StarPilot/openpilot/system/hardware/chestnut/status.py

import time

from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, is_chestnut_usb_id


CHESTNUT_RELEASE_BRANCHES = ("release-chestnut", "release-chestnut-staging", "nightly-chestnut", "nightly-chestnut-dev")
CHESTNUT_POWERED_VOLTAGE = 5000
GPU_TEMP_LIMIT = 100.
MEMORY_TEMP_LIMIT = 95.
TEMP_HYSTERESIS = 5.


class ChestnutStatus:
  def __init__(self):
    self.started = time.monotonic()
    self.offroad = True
    self.pcie_failed = False
    self.power_seen = False
    self.power_unavailable = False
    self.power_lost = False
    self.power_restored = False
    self.link_failures = 0
    self.model_loading_seen = False
    self.model_attempted = False
    self.model_failed = False
    self.overheated = False
    self.usb_seen = False
    self.usb_failed = False

  def update(self, offroad: bool, branch: str, usb_state: list[dict], firmware_failed: bool,
             model_loading: bool, model_active: bool | None, state, set_alert) -> None:
    detected = [d for d in usb_state if is_chestnut_usb_id(d["vendorId"], d["productId"], include_bootloader=True)]
    devices = [d for d in detected if is_chestnut_usb_id(d["vendorId"], d["productId"])]
    firmware_ok = len(devices) == 1 and devices[0]["product"] == CHESTNUT_USB_PRODUCT

    if self.offroad and not offroad:
      self.pcie_failed = False
      self.power_seen = False
      self.power_unavailable = False
      self.power_lost = False
      self.power_restored = False
      self.link_failures = 0
      self.model_loading_seen = False
      self.model_attempted = False
      self.model_failed = False
      self.usb_seen = firmware_ok
      self.usb_failed = False

    self.model_loading_seen |= model_loading
    self.model_attempted |= self.model_loading_seen and not model_loading and model_active is not None
    self.model_failed |= not offroad and self.model_attempted and model_active is False and len(detected) > 0

    if not offroad and self.usb_seen and len(devices) != 1:
      self.usb_failed = True
    if offroad and len(devices) == 1:
      self.usb_failed = False

    if not offroad and state is not None:
      powered = state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE
      power_lost = state.supplyFault or not powered
      if self.model_attempted and power_lost and not self.power_lost:
        self.power_unavailable = not self.power_seen
      self.power_seen |= powered

    if not offroad and self.model_attempted and state is not None:
      self.link_failures = self.link_failures + 1 if state.pcieLtssm != 0x78 else 0
      self.pcie_failed |= self.link_failures >= 2 or power_lost
      self.power_lost |= power_lost

    if self.pcie_failed and self.power_lost and state is not None:
      self.power_restored |= not state.supplyFault and state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE
    if self.usb_failed:
      self.pcie_failed = False
      self.power_seen = False
      self.power_unavailable = False
      self.power_lost = False
      self.power_restored = False
      self.model_failed = False

    if state is not None:
      gpu_limit = GPU_TEMP_LIMIT - (TEMP_HYSTERESIS if self.overheated else 0.)
      memory_limit = MEMORY_TEMP_LIMIT - (TEMP_HYSTERESIS if self.overheated else 0.)
      self.overheated = state.tempC >= gpu_limit or state.memoryTempC >= memory_limit

    # modeld selects a present, compiled Chestnut independently of the Git
    # branch. Compiled big-model artifacts do not imply installed hardware.
    expected = branch in CHESTNUT_RELEASE_BRANCHES
    missing = self.usb_failed or (offroad and expected and time.monotonic() - self.started > 10. and len(detected) != 1)
    slow_usb = offroad and len(devices) == 1 and devices[0]["speedMbps"] < 5000
    set_alert("Offroad_ChestnutBranch", False)
    set_alert("Offroad_ChestnutNotDetected", missing)
    set_alert("Offroad_ChestnutOverheated", self.overheated)
    set_alert("Offroad_ChestnutUsbSlow", slow_usb, f"{devices[0]['speedMbps']} Mbps" if slow_usb else None)
    if self.power_lost:
      pcie_alert = ("Chestnut power restored. Restart the car to retry." if self.power_restored else
                    "Chestnut power disconnected. Check the 12V connection, then restart the car." if self.power_unavailable else
                    "Chestnut power lost. Check the 12V connection, then restart the car.")
    else:
      pcie_alert = "Chestnut GPU unavailable. Check the GPU is securely seated, then restart the car."
    set_alert("Offroad_ChestnutPcieUnavailable", self.pcie_failed, pcie_alert)
    set_alert("Offroad_ChestnutModelError", self.model_failed and not (missing or self.pcie_failed))
    set_alert("Offroad_ChestnutUpdateFailed", offroad and firmware_failed)
    self.offroad = offroad