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IQ.Pilot Release Commit @ f82ff4d

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IQ.Lvbs CI [bot]
2026-07-21 13:43:46 -05:00
parent 7b20edda67
commit b712a31728
717 changed files with 4347 additions and 3060 deletions
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20
system/hardware/hardwared.py
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@@ -21,7 +21,6 @@ from openpilot.common.realtime import DT_HW
from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
from openpilot.system.hardware import HARDWARE, TICI, AGNOS
from openpilot.system.loggerd.config import get_available_percent
from openpilot.system.statsd import statlog
from openpilot.common.swaglog import cloudlog
from openpilot.system.hardware.power_monitoring import PowerMonitoring, VBATT_LOW_POWER_EXIT
from openpilot.system.hardware.fan_controller import FanController
@@ -479,11 +478,9 @@ def hardware_thread(end_event, hw_queue) -> None:
msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
current_power_draw = HARDWARE.get_current_power_draw()
statlog.sample("power_draw", current_power_draw)
msg.deviceState.powerDrawW = current_power_draw
som_power_draw = HARDWARE.get_som_power_draw()
statlog.sample("som_power_draw", som_power_draw)
msg.deviceState.somPowerDrawW = som_power_draw
# FastSleep deep standby: shed heavy processes at low battery instead of shutting down,
@@ -523,23 +520,6 @@ def hardware_thread(end_event, hw_queue) -> None:
msg.deviceState.thermalStatus = thermal_status
pm.send("deviceState", msg)
# Log to statsd
statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent)
statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent)
statlog.gauge("memory_usage_percent", msg.deviceState.memoryUsagePercent)
for i, usage in enumerate(msg.deviceState.cpuUsagePercent):
statlog.gauge(f"cpu{i}_usage_percent", usage)
for i, temp in enumerate(msg.deviceState.cpuTempC):
statlog.gauge(f"cpu{i}_temperature", temp)
for i, temp in enumerate(msg.deviceState.gpuTempC):
statlog.gauge(f"gpu{i}_temperature", temp)
statlog.gauge("memory_temperature", msg.deviceState.memoryTempC)
for i, temp in enumerate(msg.deviceState.pmicTempC):
statlog.gauge(f"pmic{i}_temperature", temp)
for i, temp in enumerate(last_hw_state.modem_temps):
statlog.gauge(f"modem_temperature{i}", temp)
statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired)
statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent)
# report to server once every 10 minutes
rising_edge_started = should_start and not should_start_prev

2
system/hardware/power_monitoring.py
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@@ -4,7 +4,6 @@ import threading
from openpilot.common.params import Params
from openpilot.system.hardware import HARDWARE
from openpilot.common.swaglog import cloudlog
from openpilot.system.statsd import statlog
CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1))
@@ -56,7 +55,6 @@ class PowerMonitoring:
# Low-pass battery voltage
self.car_voltage_instant_mV = voltage
self.car_voltage_mV = ((voltage * CAR_VOLTAGE_LOW_PASS_K) + (self.car_voltage_mV * (1 - CAR_VOLTAGE_LOW_PASS_K)))
statlog.gauge("car_voltage", self.car_voltage_mV / 1e3)
# Cap the car battery power and save it in a param every 10-ish seconds
self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0)

2
system/hardware/tici/tests/test_power_draw.py
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@@ -7,7 +7,7 @@ from tabulate import tabulate
import cereal.messaging as messaging
from cereal.services import SERVICE_LIST
from opendbc.car.car_helpers import get_demo_car_params
from iqdbc.car.car_helpers import get_demo_car_params
from openpilot.common.mock import mock_messages
from openpilot.common.params import Params
from openpilot.system.hardware.tici.power_monitor import get_power