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Fan controller cleanup + testing (#23886)
* clean up fan controllers in preparation for testing * add fan controller to release * add some unit tests around the fan controller * subclass ABC
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,103 @@ | ||
| #!/usr/bin/env python3 | ||
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| import os | ||
| from smbus2 import SMBus | ||
| from abc import ABC, abstractmethod | ||
| from common.realtime import DT_TRML | ||
| from common.numpy_fast import interp | ||
| from selfdrive.swaglog import cloudlog | ||
| from selfdrive.controls.lib.pid import PIController | ||
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| class BaseFanController(ABC): | ||
| @abstractmethod | ||
| def update(self, max_cpu_temp: float, ignition: bool) -> int: | ||
| pass | ||
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| class EonFanController(BaseFanController): | ||
| # Temp thresholds to control fan speed - high hysteresis | ||
| TEMP_THRS_H = [50., 65., 80., 10000] | ||
| # Temp thresholds to control fan speed - low hysteresis | ||
| TEMP_THRS_L = [42.5, 57.5, 72.5, 10000] | ||
| # Fan speed options | ||
| FAN_SPEEDS = [0, 16384, 32768, 65535] | ||
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| def __init__(self) -> None: | ||
| super().__init__() | ||
| cloudlog.info("Setting up EON fan handler") | ||
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| self.fan_speed = -1 | ||
| self.setup_eon_fan() | ||
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| def setup_eon_fan(self) -> None: | ||
| os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch") | ||
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| def set_eon_fan(self, speed: int) -> None: | ||
| if self.fan_speed != speed: | ||
| # FIXME: this is such an ugly hack to get the right index | ||
| val = speed // 16384 | ||
|
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| bus = SMBus(7, force=True) | ||
| try: | ||
| i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val] | ||
| bus.write_i2c_block_data(0x3d, 0, [i]) | ||
| except OSError: | ||
| # tusb320 | ||
| if val == 0: | ||
| bus.write_i2c_block_data(0x67, 0xa, [0]) | ||
| else: | ||
| bus.write_i2c_block_data(0x67, 0xa, [0x20]) | ||
| bus.write_i2c_block_data(0x67, 0x8, [(val - 1) << 6]) | ||
| bus.close() | ||
| self.fan_speed = speed | ||
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| def update(self, max_cpu_temp: float, ignition: bool) -> int: | ||
| new_speed_h = next(speed for speed, temp_h in zip(self.FAN_SPEEDS, self.TEMP_THRS_H) if temp_h > max_cpu_temp) | ||
| new_speed_l = next(speed for speed, temp_l in zip(self.FAN_SPEEDS, self.TEMP_THRS_L) if temp_l > max_cpu_temp) | ||
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| if new_speed_h > self.fan_speed: | ||
| self.set_eon_fan(new_speed_h) | ||
| elif new_speed_l < self.fan_speed: | ||
| self.set_eon_fan(new_speed_l) | ||
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| return self.fan_speed | ||
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| class UnoFanController(BaseFanController): | ||
| def __init__(self) -> None: | ||
| super().__init__() | ||
| cloudlog.info("Setting up UNO fan handler") | ||
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| def update(self, max_cpu_temp: float, ignition: bool) -> int: | ||
| new_speed = int(interp(max_cpu_temp, [40.0, 80.0], [0, 80])) | ||
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| if not ignition: | ||
| new_speed = min(30, new_speed) | ||
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| return new_speed | ||
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| class TiciFanController(BaseFanController): | ||
| def __init__(self) -> None: | ||
| super().__init__() | ||
| cloudlog.info("Setting up TICI fan handler") | ||
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| self.last_ignition = False | ||
| self.controller = PIController(k_p=0, k_i=2e-3, k_f=1, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML)) | ||
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| def update(self, max_cpu_temp: float, ignition: bool) -> int: | ||
| self.controller.neg_limit = -(80 if ignition else 30) | ||
| self.controller.pos_limit = -(30 if ignition else 0) | ||
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| if ignition != self.last_ignition: | ||
| self.controller.reset() | ||
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| fan_pwr_out = -int(self.controller.update( | ||
| setpoint=75, | ||
| measurement=max_cpu_temp, | ||
| feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80]) | ||
| )) | ||
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| self.last_ignition = ignition | ||
| return fan_pwr_out | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,58 @@ | ||
| #!/usr/bin/env python3 | ||
| import unittest | ||
| from unittest.mock import Mock, MagicMock, patch | ||
| from parameterized import parameterized | ||
|
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| with patch("smbus2.SMBus", new=MagicMock()): | ||
| from selfdrive.thermald.fan_controller import EonFanController, UnoFanController, TiciFanController | ||
|
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| ALL_CONTROLLERS = [(EonFanController, ), (UnoFanController,), (TiciFanController,)] | ||
| GEN2_CONTROLLERS = [(UnoFanController,), (TiciFanController,)] | ||
|
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| def patched_controller(controller_class): | ||
| with patch("os.system", new=Mock()): | ||
| return controller_class() | ||
|
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| class TestFanController(unittest.TestCase): | ||
| def wind_up(self, controller, ignition=True): | ||
| for _ in range(1000): | ||
| controller.update(max_cpu_temp=100, ignition=ignition) | ||
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| def wind_down(self, controller, ignition=False): | ||
| for _ in range(1000): | ||
| controller.update(max_cpu_temp=10, ignition=ignition) | ||
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| @parameterized.expand(ALL_CONTROLLERS) | ||
| def test_hot_onroad(self, controller_class): | ||
| controller = patched_controller(controller_class) | ||
| self.wind_up(controller) | ||
| self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 70) | ||
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| @parameterized.expand(GEN2_CONTROLLERS) | ||
| def test_offroad_limits(self, controller_class): | ||
| controller = patched_controller(controller_class) | ||
| self.wind_up(controller) | ||
| self.assertLessEqual(controller.update(max_cpu_temp=100, ignition=False), 30) | ||
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| @parameterized.expand(ALL_CONTROLLERS) | ||
| def test_no_fan_wear(self, controller_class): | ||
| controller = patched_controller(controller_class) | ||
| self.wind_down(controller) | ||
| self.assertEqual(controller.update(max_cpu_temp=10, ignition=False), 0) | ||
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| @parameterized.expand(GEN2_CONTROLLERS) | ||
| def test_limited(self, controller_class): | ||
| controller = patched_controller(controller_class) | ||
| self.wind_up(controller, ignition=True) | ||
| self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 80) | ||
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| @parameterized.expand(ALL_CONTROLLERS) | ||
| def test_windup_speed(self, controller_class): | ||
| controller = patched_controller(controller_class) | ||
| self.wind_down(controller, ignition=True) | ||
| for _ in range(10): | ||
| controller.update(max_cpu_temp=90, ignition=True) | ||
| self.assertGreaterEqual(controller.update(max_cpu_temp=90, ignition=True), 60) | ||
|
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| if __name__ == "__main__": | ||
| unittest.main() |
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