* init -- customd

selfdrive/customd.py

@@ -0,0 +1,121 @@
+#!/usr/bin/env python
+
+# custom service run tasks every SLEEP_TIMER second(s)
+
+import time
+import subprocess
+
+POWER_OFF_TIMER = 1 # shut down after POWER_OFF_TIMER hours of no USB connection, set to 0 to disable this.
+SLEEP_TIMER = 5
+BAT_TEMP_LIMIT = 460
+BAT_CAP_LIMIT = 35
+POWER_OFF_BAT_LIMIT = 35
+RESTORE_CPU_FREQ_WHEN_BAT_CAP_AT = 5
+
+def main(gctx=None):
+
+  # when first execute
+  set_max_cpu_freq(True)
+
+  # allow charging
+  set_charging_status(True)
+
+  prev_usb_status = get_usb_status()
+  sec_counter = 0
+  power_off_sec = 0
+
+  # calculate power_off_sec value
+  if POWER_OFF_TIMER > 0:
+    power_off_sec = 60*60*POWER_OFF_TIMER/SLEEP_TIMER
+
+  # main logic
+  while True:
+    battery_temp = get_battery_temp()
+    battery_cap_now = get_battery_capacity()
+    charging_status = get_charging_status()
+
+    # if temp is high AND we still have enough battery capacity, then we stop charging the battery
+    if battery_temp > BAT_TEMP_LIMIT and battery_cap_now > BAT_CAP_LIMIT:
+      allow_charge = False
+    else:
+      allow_charge = True
+
+    # set battery charging status only when it's different then previous.
+    if charging_status != allow_charge:
+      set_charging_status(allow_charge)
+
+    # current usb status
+    cur_usb_status = get_usb_status()
+
+    # we set cpu back to original freq when usb is not charging
+    # and bat is less than the limit
+    # so when next time we boot up, it boot faster.
+    if battery_cap_now <= RESTORE_CPU_FREQ_WHEN_BAT_CAP_AT and prev_usb_status != 0:
+      prev_usb_status = 1
+      set_max_cpu_freq(True)
+    else:
+      # if USB status changed, we update CPU frequency accordingly.
+      if cur_usb_status != prev_usb_status:
+        set_max_cpu_freq(cur_usb_status == 1)
+        prev_usb_status = cur_usb_status
+
+    if power_off_sec > 0 and sec_counter >= power_off_sec:
+      set_max_cpu_freq(True)
+      shutdown()
+
+    if cur_usb_status == 0:
+      sec_counter = sec_counter + 1
+    else:
+      sec_counter = 0
+
+    time.sleep(SLEEP_TIMER)
+
+
+def shutdown():
+  os.system('LD_LIBRARY_PATH="" svc power shutdown')
+
+def get_battery_temp():
+  with open("/sys/class/power_supply/battery/temp") as f:
+    return int(f.read())
+
+def get_battery_capacity():
+  with open("/sys/class/power_supply/battery/capacity") as f:
+    return int(f.read())
+
+def get_charging_status():
+  with open("/sys/class/power_supply/battery/charging_enabled") as f:
+    return int(f.read())
+
+def get_usb_status():
+  with open("/sys/class/power_supply/usb/present") as f:
+    return int(f.read())
+
+def set_charging_status(status):
+  if status == True:
+    val = "1"
+  else:
+    val = "0"
+  subprocess.call(["echo", val, ">", "/sys/class/power_supply/battery/charging_enabled"])
+
+def set_max_cpu_freq(ismax=True):
+  param = "{print $NF}"
+  if not ismax:
+    param = "{print $1}"
+
+  for i in range(0, 4):
+    cpuid = str(i)
+    try:
+      # fetch cpu's available max/min freq
+      proc = subprocess.Popen(
+        ["awk", param, "/sys/devices/system/cpu/cpu" + cpuid + "/cpufreq/scaling_available_frequencies"],
+        stdout=subprocess.PIPE)
+      freq = proc.stdout.read()
+      # set cpu's max freq to max/min available
+      print "Set cpu" , cpuid , " to " , freq
+      subprocess.call(["echo", freq, ">", "/sys/devices/system/cpu/cpu" + cpuid + "/freq/scaling_max_freq"])
+
+    except subprocess.CalledProcessError, e:
+      print "Unable to extract cpu freq for cpu ", cpuid
+
+if __name__ == "__main__":
+  main()

selfdrive/manager.py

@@ -102,6 +102,7 @@ managed_processes = {
   "gpsd": ("selfdrive/sensord", ["./gpsd"]),
   "orbd": ("selfdrive/orbd", ["./orbd_wrapper.sh"]),
   "updated": "selfdrive.updated",
+  "customd": "selfdrive.customd",
 }
 android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame")
 
@@ -124,6 +125,7 @@ persistent_processes = [
   'ui',
   'gpsd',
   'updated',
+  'customd',
 ]
 
 car_started_processes = [

selfdrive/service_list.yaml

@@ -134,3 +134,5 @@ testJoystick: [8056, false]
 #   publishes: procLog
 
 # tombstoned -- reports native crashes
+
+# customd -- a custom service