system/hardware/ cleanup (#38201)

* imei cleanup

* rm get_modem_version

* cpp cleanup

* that's not in the panda!

selfdrive/pandad/pandad.cc

@@ -1,7 +1,6 @@
 #include "selfdrive/pandad/pandad.h"
 
 #include <array>
-#include <atomic>
 #include <bitset>
 #include <cassert>
 #include <cerrno>
@@ -24,14 +23,6 @@
 
 ExitHandler do_exit;
 
-struct HwmonState {
-  std::atomic<uint32_t> voltage{0};
-  std::atomic<uint32_t> current{0};
-  std::atomic<bool> initialized{false};
-};
-
-HwmonState hwmon_state;
-
 bool check_connected(Panda *panda) {
   if (!panda->connected()) {
     do_exit = true;
@@ -114,26 +105,6 @@ void can_recv(Panda *panda, PubMaster *pm) {
   }
 }
 
-void hwmon_thread() {
-  util::set_thread_name("pandad_hwmon");
-
-  while (!do_exit) {
-    double read_time = millis_since_boot();
-    uint32_t voltage = Hardware::get_voltage();
-    uint32_t current = Hardware::get_current();
-    read_time = millis_since_boot() - read_time;
-    if (read_time > 50) {
-      LOGW("reading hwmon took %lfms", read_time);
-    }
-
-    hwmon_state.voltage.store(voltage);
-    hwmon_state.current.store(current);
-    hwmon_state.initialized.store(true);
-
-    util::sleep_for(500);
-  }
-}
-
 void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::PandaType hw_type, const health_t &health) {
   ps.setVoltage(health.voltage_pkt);
   ps.setCurrent(health.current_pkt);
@@ -264,7 +235,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroa
 }
 
 void send_peripheral_state(Panda *panda, PubMaster *pm) {
-  if (!hwmon_state.initialized.load()) {
+  auto health_opt = panda->get_state();
+  if (!health_opt) {
     return;
   }
 
@@ -276,18 +248,9 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
   auto ps = evt.initPeripheralState();
   ps.setPandaType(panda->hw_type);
 
-  ps.setVoltage(hwmon_state.voltage.load());
-  ps.setCurrent(hwmon_state.current.load());
-
-  // fall back to panda's voltage and current measurement
-  if (ps.getVoltage() == 0 && ps.getCurrent() == 0) {
-    auto health_opt = panda->get_state();
-    if (health_opt) {
-      health_t health = *health_opt;
-      ps.setVoltage(health.voltage_pkt);
-      ps.setCurrent(health.current_pkt);
-    }
-  }
+  health_t health = *health_opt;
+  ps.setVoltage(health.voltage_pkt);
+  ps.setCurrent(health.current_pkt);
 
   uint16_t fan_speed_rpm = panda->get_fan_speed();
   ps.setFanSpeedRpm(fan_speed_rpm);
@@ -399,9 +362,8 @@ void pandad_run(Panda *panda) {
   const bool spoofing_started = getenv("STARTED") != nullptr;
   const bool fake_send = getenv("FAKESEND") != nullptr;
 
-  // Start helper threads for event-driven sendcan and slow non-Panda reads.
+  // Start helper thread for event-driven sendcan.
   std::thread send_thread(can_send_thread, panda, fake_send);
-  std::thread hardware_thread(hwmon_thread);
 
   RateKeeper rk("pandad", 100);
   SubMaster sm({"selfdriveState", "deviceState"});
@@ -457,7 +419,6 @@ void pandad_run(Panda *panda) {
   }
 
   send_thread.join();
-  hardware_thread.join();
 }
 
 void pandad_main_thread(std::string serial) {

system/athena/registration.py

@@ -54,17 +54,16 @@ def register(show_spinner=False) -> str | None:
     # Block until we get the imei
     serial = HARDWARE.get_serial()
     start_time = time.monotonic()
-    imei1: str | None = None
-    imei2: str | None = None
-    while imei1 is None and imei2 is None:
+    imei: str | None = None
+    while imei is None:
       try:
-        imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)
+        imei = HARDWARE.get_imei()
       except Exception:
         cloudlog.exception("Error getting imei, trying again...")
         time.sleep(1)
 
       if time.monotonic() - start_time > 60 and show_spinner:
-        spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
+        spinner.update(f"registering device - serial: {serial}, IMEI: {imei}")
 
     backoff = 0
     start_time = time.monotonic()
@@ -74,7 +73,7 @@ def register(show_spinner=False) -> str | None:
                                     cast(str, private_key), algorithm=jwt_algo)
         cloudlog.info("getting pilotauth")
         resp = api_get("v2/pilotauth/", method='POST', timeout=15,
-                       imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
+                       imei=imei, imei2="", serial=serial, public_key=public_key, register_token=register_token)
 
         if resp.status_code in (402, 403):
           cloudlog.info(f"Unable to register device, got {resp.status_code}")
@@ -89,7 +88,7 @@ def register(show_spinner=False) -> str | None:
         time.sleep(backoff)
 
       if time.monotonic() - start_time > 60 and show_spinner:
-        spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
+        spinner.update(f"registering device - serial: {serial}, IMEI: {imei}")
 
     if show_spinner:
       spinner.close()

system/hardware/base.h

@@ -12,8 +12,6 @@ class HardwareNone {
 public:
   static std::string get_name() { return ""; }
   static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }
-  static int get_voltage() { return 0; }
-  static int get_current() { return 0; }
 
   static std::string get_serial() { return "cccccc"; }
 
@@ -24,6 +22,4 @@ public:
   static void set_ir_power(int percentage) {}
 
   static bool PC() { return false; }
-  static bool TICI() { return false; }
-  static bool AGNOS() { return false; }
 };

system/hardware/base.py

@@ -85,7 +85,7 @@ class HardwareBase(ABC):
   def get_device_type(self):
     pass
 
-  def get_imei(self, slot) -> str:
+  def get_imei(self) -> str:
     return ""
 
   def get_serial(self):
@@ -142,18 +142,12 @@ class HardwareBase(ABC):
   def get_gpu_usage_percent(self):
     return 0
 
-  def get_modem_version(self):
-    return None
-
   def get_modem_temperatures(self):
     return []
 
   def initialize_hardware(self):
     pass
 
-  def has_internal_panda(self) -> bool:
-    return False
-
   def reset_internal_panda(self):
     pass
 
@@ -163,11 +157,5 @@ class HardwareBase(ABC):
   def get_modem_data_usage(self):
     return -1, -1
 
-  def get_voltage(self) -> float:
-    return 0.
-
-  def get_current(self) -> float:
-    return 0.
-
   def set_ir_power(self, percent: int):
     pass

system/hardware/hardwared.py

@@ -17,7 +17,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.hardware import HARDWARE, TICI, AGNOS, PC
+from openpilot.system.hardware import HARDWARE, TICI, PC
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
@@ -107,8 +107,6 @@ def hw_state_thread(end_event, hw_queue):
   count = 0
   prev_hw_state = None
 
-  modem_version = None
-
   while not end_event.is_set():
     # these are expensive calls. update every 10s
     if (count % int(10. / DT_HW)) == 0:
@@ -118,13 +116,6 @@ def hw_state_thread(end_event, hw_queue):
         if len(modem_temps) == 0 and prev_hw_state is not None:
           modem_temps = prev_hw_state.modem_temps
 
-        # Log modem version once
-        if AGNOS and (modem_version is None):
-          modem_version = HARDWARE.get_modem_version()
-
-          if modem_version is not None:
-            cloudlog.event("modem version", version=modem_version)
-
         tx, rx = HARDWARE.get_modem_data_usage()
 
         hw_state = HardwareState(

system/hardware/pc/hardware.h

@@ -9,6 +9,4 @@ public:
   static std::string get_name() { return "pc"; }
   static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }
   static bool PC() { return true; }
-  static bool TICI() { return util::getenv("TICI", 0) == 1; }
-  static bool AGNOS() { return util::getenv("TICI", 0) == 1; }
 };

system/hardware/pc/hardware.py

@@ -1,12 +1,10 @@
 from cereal import log
 from openpilot.system.hardware.base import HardwareBase
 
-NetworkType = log.DeviceState.NetworkType
-
-
 class Pc(HardwareBase):
   def get_device_type(self):
     return "pc"
 
   def get_network_type(self):
-    return NetworkType.wifi
+    # some stuff is gated on wifi, so just assume for now
+    return log.DeviceState.NetworkType.wifi

system/hardware/tici/hardware.h

@@ -1,6 +1,5 @@
 #pragma once
 
-#include <cstdlib>
 #include <cassert>
 #include <fstream>
 #include <map>
@@ -22,7 +21,6 @@ public:
 
   static cereal::InitData::DeviceType get_device_type() {
     static const std::map<std::string, cereal::InitData::DeviceType> device_map = {
-      {"tici", cereal::InitData::DeviceType::TICI},
       {"tizi", cereal::InitData::DeviceType::TIZI},
       {"mici", cereal::InitData::DeviceType::MICI}
     };
@@ -31,9 +29,6 @@ public:
     return it->second;
   }
 
-  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }
-  static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }
-
   static std::string get_serial() {
     static std::string serial("");
     if (serial.empty()) {
@@ -54,8 +49,7 @@ public:
 
   static void set_ir_power(int percent) {
     auto device = get_device_type();
-    if (device == cereal::InitData::DeviceType::TICI ||
-        device == cereal::InitData::DeviceType::TIZI) {
+    if (device == cereal::InitData::DeviceType::TIZI) {
       return;
     }
 

system/hardware/tici/hardware.py

@@ -147,9 +147,7 @@ class Tici(HardwareBase):
   def get_sim_lpa(self) -> LPABase:
     return TiciLPA()
 
-  def get_imei(self, slot):
-    if slot != 0:
-      return ""
+  def get_imei(self):
     return self.get_modem_state().get('imei', '')
 
   def get_network_info(self):
@@ -233,9 +231,6 @@ class Tici(HardwareBase):
 
     return super().get_network_metered(network_type)
 
-  def get_modem_version(self):
-    return self.get_modem_state().get('modem_version') or None
-
   def get_modem_temperatures(self):
     return self.get_modem_state().get('temperatures', [])
 
@@ -390,9 +385,6 @@ class Tici(HardwareBase):
     ms = self.get_modem_state()
     return ms.get('tx_bytes', -1), ms.get('rx_bytes', -1)
 
-  def has_internal_panda(self):
-    return True
-
   def reset_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_init(GPIO.STM_BOOT0, True)

system/hardware/tici/precise_power_measure.py

@@ -1,9 +0,0 @@
-#!/usr/bin/env python3
-import numpy as np
-from openpilot.system.hardware.tici.power_monitor import sample_power
-
-if __name__ == '__main__':
-  print("measuring for 5 seconds")
-  for _ in range(3):
-    pwrs = sample_power()
-    print(f"mean {np.mean(pwrs):.2f} std {np.std(pwrs):.2f}")