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usb logging on topology change (#38495)

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speedup usb detection
This commit is contained in:
Daniel Koepping
2026-07-30 08:26:02 -07:00
committed by GitHub
parent 1c54ff853a
commit caee482fe7
2 changed files with 16 additions and 3 deletions
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openpilot/system/hardware/hardwared.py
+8 -3
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@@ -16,7 +16,7 @@ from openpilot.common.params import Params
from openpilot.common.realtime import DT_HW
from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
from openpilot.common.hardware import HARDWARE, TICI, PC
from openpilot.common.hardware.usb import get_usb_state, set_usb_state
from openpilot.common.hardware.usb import get_usb_state, get_usb_topology, set_usb_state
from openpilot.common.linux import LinuxSystemStats
from openpilot.system.loggerd.config import get_available_percent
from openpilot.common.swaglog import cloudlog
@@ -105,10 +105,15 @@ def hw_state_thread(end_event, hw_queue):
"""Handles non critical hardware state, and sends over queue"""
count = 0
prev_hw_state = None
prev_usb_topology = set()
while not end_event.is_set():
# these are expensive calls. update every 10s
if (count % int(10. / DT_HW)) == 0:
usb_topology = get_usb_topology()
usb_changed = usb_topology != prev_usb_topology
# these are expensive calls. update every 10s or when USB devices change
if (count % int(10. / DT_HW)) == 0 or usb_changed:
prev_usb_topology = usb_topology
try:
network_type = HARDWARE.get_network_type()
modem_temps = HARDWARE.get_modem_temperatures()