more comma two cleanup (#24300)

* more comma two cleanup

* fix up power monitoring

release/files_common

@@ -302,7 +302,6 @@ selfdrive/camerad/cameras/camera_common.h
 selfdrive/camerad/cameras/camera_common.cc
 selfdrive/camerad/cameras/camera_replay.cc
 selfdrive/camerad/cameras/camera_replay.h
-selfdrive/camerad/cameras/sensor_i2c.h
 selfdrive/camerad/cameras/sensor2_i2c.h
 
 selfdrive/camerad/transforms/rgb_to_yuv.cc

selfdrive/hardware/base.py

@@ -78,30 +78,6 @@ class HardwareBase(ABC):
   def set_bandwidth_limit(upload_speed_kbps: int, download_speed_kbps: int) -> None:
     pass
 
-  @abstractmethod
-  def get_battery_capacity(self):
-    pass
-
-  @abstractmethod
-  def get_battery_status(self):
-    pass
-
-  @abstractmethod
-  def get_battery_current(self):
-    pass
-
-  @abstractmethod
-  def get_battery_voltage(self):
-    pass
-
-  @abstractmethod
-  def get_battery_charging(self):
-    pass
-
-  @abstractmethod
-  def set_battery_charging(self, on):
-    pass
-
   @abstractmethod
   def get_usb_present(self):
     pass

selfdrive/hardware/pc/hardware.py

@@ -50,24 +50,6 @@ class Pc(HardwareBase):
   def get_network_strength(self, network_type):
     return NetworkStrength.unknown
 
-  def get_battery_capacity(self):
-    return 100
-
-  def get_battery_status(self):
-    return ""
-
-  def get_battery_current(self):
-    return 0
-
-  def get_battery_voltage(self):
-    return 0
-
-  def get_battery_charging(self):
-    return True
-
-  def set_battery_charging(self, on):
-    pass
-
   def get_usb_present(self):
     return False
 

selfdrive/hardware/tici/hardware.py

@@ -355,25 +355,6 @@ class Tici(HardwareBase):
       pass
     return ret
 
-  # We don't have a battery, so let's use some sane constants
-  def get_battery_capacity(self):
-    return 100
-
-  def get_battery_status(self):
-    return ""
-
-  def get_battery_current(self):
-    return 0
-
-  def get_battery_voltage(self):
-    return 0
-
-  def get_battery_charging(self):
-    return True
-
-  def set_battery_charging(self, on):
-    pass
-
   def get_usb_present(self):
     # Not sure if relevant on tici, but the file exists
     return self.read_param_file("/sys/class/power_supply/usb/present", lambda x: bool(int(x)), False)

selfdrive/thermald/power_monitoring.py

@@ -1,7 +1,4 @@
-import random
 import threading
-import time
-from statistics import mean
 from typing import Optional
 
 from cereal import log
@@ -82,52 +79,8 @@ class PowerMonitoring:
           self.car_battery_capacity_uWh += (CAR_CHARGING_RATE_W * 1e6 * integration_time_h)
           self.last_measurement_time = now
       else:
-        # No ignition, we integrate the offroad power used by the device
-        is_uno = peripheralState.pandaType == log.PandaState.PandaType.uno
         # Get current power draw somehow
-        current_power = HARDWARE.get_current_power_draw() # pylint: disable=assignment-from-none
-        if current_power is not None:
-          pass
-        elif (self.next_pulsed_measurement_time is not None) and (self.next_pulsed_measurement_time <= now):
-          # TODO: Figure out why this is off by a factor of 3/4???
-          FUDGE_FACTOR = 1.33
-
-          # Turn off charging for about 10 sec in a thread that does not get killed on SIGINT, and perform measurement here to avoid blocking thermal
-          def perform_pulse_measurement(now):
-            try:
-              HARDWARE.set_battery_charging(False)
-              time.sleep(5)
-
-              # Measure for a few sec to get a good average
-              voltages = []
-              currents = []
-              for _ in range(6):
-                voltages.append(HARDWARE.get_battery_voltage())
-                currents.append(HARDWARE.get_battery_current())
-                time.sleep(1)
-              current_power = ((mean(voltages) / 1000000) * (mean(currents) / 1000000))
-
-              self._perform_integration(now, current_power * FUDGE_FACTOR)
-
-              # Enable charging again
-              HARDWARE.set_battery_charging(True)
-            except Exception:
-              cloudlog.exception("Pulsed power measurement failed")
-
-          # Start pulsed measurement and return
-          threading.Thread(target=perform_pulse_measurement, args=(now,)).start()
-          self.next_pulsed_measurement_time = None
-          return
-
-        elif self.next_pulsed_measurement_time is None and not is_uno:
-          # On a charging EON with black panda, or drawing more than 400mA out of a white/grey one
-          # Only way to get the power draw is to turn off charging for a few sec and check what the discharging rate is
-          # We shouldn't do this very often, so make sure it has been some long-ish random time interval
-          self.next_pulsed_measurement_time = now + random.randint(120, 180)
-          return
-        else:
-          # Do nothing
-          return
+        current_power = HARDWARE.get_current_power_draw()
 
         # Do the integration
         self._perform_integration(now, current_power)
@@ -178,11 +131,9 @@ class PowerMonitoring:
 
     now = sec_since_boot()
     panda_charging = (peripheralState.usbPowerMode != log.PeripheralState.UsbPowerMode.client)
-    BATT_PERC_OFF = 10
 
     should_shutdown = False
     # Wait until we have shut down charging before powering down
     should_shutdown |= (not panda_charging and self.should_disable_charging(ignition, in_car, offroad_timestamp))
-    should_shutdown |= ((HARDWARE.get_battery_capacity() < BATT_PERC_OFF) and (not HARDWARE.get_battery_charging()) and ((now - offroad_timestamp) > 60))
     should_shutdown &= started_seen or (now > MIN_ON_TIME_S)
     return should_shutdown

selfdrive/thermald/tests/test_power_monitoring.py

@@ -21,10 +21,7 @@ with patch("common.realtime.sec_since_boot", new=mock_sec_since_boot):
                                                     CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING
 
 TEST_DURATION_S = 50
-ALL_PANDA_TYPES = [(hw_type,) for hw_type in [log.PandaState.PandaType.whitePanda,
-                                              log.PandaState.PandaType.greyPanda,
-                                              log.PandaState.PandaType.blackPanda,
-                                              log.PandaState.PandaType.uno]]
+ALL_PANDA_TYPES = [(log.PandaState.PandaType.dos,)]
 
 def pm_patch(name, value, constant=False):
   if constant:
@@ -121,12 +118,8 @@ class TestPowerMonitoring(unittest.TestCase):
   # Test to check policy of stopping charging after MAX_TIME_OFFROAD_S
   @parameterized.expand(ALL_PANDA_TYPES)
   def test_max_time_offroad(self, hw_type):
-    BATT_VOLTAGE = 4
-    BATT_CURRENT = 0 # To stop shutting down for other reasons
     MOCKED_MAX_OFFROAD_TIME = 3600
-    with pm_patch("HARDWARE.get_battery_voltage", BATT_VOLTAGE * 1e6), pm_patch("HARDWARE.get_battery_current", BATT_CURRENT * 1e6), \
-    pm_patch("HARDWARE.get_battery_status", "Discharging"), pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), \
-    pm_patch("HARDWARE.get_current_power_draw", None):
+    with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", None):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
       start_time = ssb

selfdrive/thermald/thermald.py

@@ -240,8 +240,6 @@ def thermald_thread(end_event, hw_queue):
     msg.deviceState.modemTempC = last_hw_state.modem_temps
 
     msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness()
-    msg.deviceState.batteryPercent = HARDWARE.get_battery_capacity()
-    msg.deviceState.batteryCurrent = HARDWARE.get_battery_current()
     msg.deviceState.usbOnline = HARDWARE.get_usb_present()
     current_filter.update(msg.deviceState.batteryCurrent / 1e6)