tici: speedup power save setting (#29100)

* speedup

* update type

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: d92c9aef23fc789d50bfd03ae09a3abbf23a8429

Jenkinsfile

@@ -166,7 +166,8 @@ pipeline {
               ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
               ["test camerad", "python system/camerad/test/test_camerad.py"],
               ["test exposure", "python system/camerad/test/test_exposure.py"],
-              ["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
+              ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+              ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
               ["test rawgpsd", "python system/sensord/rawgps/test_rawgps.py"],
             ])
           }

common/gpio.py

@@ -1,4 +1,4 @@
-import glob
+from functools import cache
 from typing import Optional, List
 
 def gpio_init(pin: int, output: bool) -> None:
@@ -25,12 +25,20 @@ def gpio_read(pin: int) -> Optional[bool]:
 
   return val
 
-def get_irq_for_action(action: str) -> List[int]:
-  ret = []
-  for fn in glob.glob('/sys/kernel/irq/*/actions'):
-    with open(fn) as f:
+@cache
+def get_irq_action(irq: int) -> List[str]:
+  try:
+    with open(f"/sys/kernel/irq/{irq}/actions") as f:
       actions = f.read().strip().split(',')
-      if action in actions:
-        irq = int(fn.split('/')[-2])
+      return actions
+  except FileNotFoundError:
+    return []
+
+def get_irqs_for_action(action: str) -> List[str]:
+  ret = []
+  with open("/proc/interrupts") as f:
+    for l in f.readlines():
+      irq = l.split(':')[0].strip()
+      if irq.isdigit() and action in get_irq_action(irq):
         ret.append(irq)
   return ret

system/hardware/tici/hardware.py

@@ -8,7 +8,7 @@ from functools import cached_property, lru_cache
 from pathlib import Path
 
 from cereal import log
-from common.gpio import gpio_set, gpio_init, get_irq_for_action
+from common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from system.hardware.base import HardwareBase, ThermalConfig
 from system.hardware.tici import iwlist
 from system.hardware.tici.pins import GPIO
@@ -61,17 +61,27 @@ MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
 
 
 def sudo_write(val, path):
-  os.system(f"sudo su -c 'echo {val} > {path}'")
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
 
 
 def affine_irq(val, action):
-  irq = get_irq_for_action(action)
-  if len(irq) == 0:
+  irqs = get_irqs_for_action(action)
+  if len(irqs) == 0:
     print(f"No IRQs found for '{action}'")
     return
-  for i in irq:
-    sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
 
+  for i in irqs:
+    sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
 
 class Tici(HardwareBase):
   @cached_property
@@ -438,17 +448,17 @@ class Tici(HardwareBase):
 
     # *** IRQ config ***
 
-    # GPU
-    affine_irq(5, "kgsl-3d0")
-
     # boardd core
     affine_irq(4, "spi_geni")         # SPI
     affine_irq(4, "xhci-hcd:usb3")    # aux panda USB (or potentially anything else on USB)
     if "tici" in self.get_device_type():
-      affine_irq(4, "xhci-hcd:usb1")  # internal panda USB
+      affine_irq(4, "xhci-hcd:usb1")  # internal panda USB (also modem)
+
+    # GPU
+    affine_irq(5, "kgsl-3d0")
 
     # camerad core
-    camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid", "csid-lite", "ife-lite")
+    camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
     for n in camera_irqs:
       affine_irq(5, n)
 
@@ -472,14 +482,14 @@ class Tici(HardwareBase):
 
     # *** IRQ config ***
 
-    # move these off the default core
-    affine_irq(1, "msm_drm")
-    affine_irq(1, "msm_vidc")
-    affine_irq(1, "i2c_geni")
-
     # mask off big cluster from default affinity
     sudo_write("f", "/proc/irq/default_smp_affinity")
 
+    # move these off the default core
+    affine_irq(1, "msm_drm")   # display
+    affine_irq(1, "msm_vidc")  # encoders
+    affine_irq(1, "i2c_geni")  # sensors
+
     # *** GPU config ***
     # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")

system/hardware/tici/tests/test_hardware.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+import time
+import unittest
+import numpy as np
+
+from system.hardware import TICI
+from system.hardware.tici.hardware import Tici
+
+HARDWARE = Tici()
+
+class TestHardware(unittest.TestCase):
+
+  @classmethod
+  def setUpClass(cls):
+    if not TICI:
+      raise unittest.SkipTest
+
+  def test_power_save_time(self):
+    ts = []
+    for _ in range(5):
+      for on in (True, False):
+        st = time.monotonic()
+        HARDWARE.set_power_save(on)
+        ts.append(time.monotonic() - st)
+
+    assert 0.1 < np.mean(ts) < 0.2
+    assert max(ts) < 0.3
+
+
+if __name__ == "__main__":
+  unittest.main()

system/sensord/tests/test_sensord.py

@@ -7,7 +7,7 @@ from collections import namedtuple, defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
-from common.gpio import get_irq_for_action
+from common.gpio import get_irqs_for_action
 from system.hardware import TICI
 from selfdrive.manager.process_config import managed_processes
 
@@ -113,7 +113,7 @@ class TestSensord(unittest.TestCase):
       cls.events = read_sensor_events(cls.sample_secs)
 
       # determine sensord's irq
-      cls.sensord_irq = get_irq_for_action("sensord")[0]
+      cls.sensord_irq = get_irqs_for_action("sensord")[0]
     finally:
       # teardown won't run if this doesn't succeed
       managed_processes["sensord"].stop()