hardwared: log touch events (#34225)

* touch

* touch

* touch

* touch

* this

* valid

* better

cereal/log.capnp

@@ -2440,6 +2440,14 @@ struct Microphone {
   filteredSoundPressureWeightedDb @2 :Float32;
 }
 
+struct Touch {
+  sec @0 :Int64;
+  usec @1 :Int64;
+  type @2 :UInt8;
+  code @3 :Int32;
+  value @4 :Int32;
+}
+
 struct Event {
   logMonoTime @0 :UInt64;  # nanoseconds
   valid @67 :Bool = true;
@@ -2520,6 +2528,9 @@ struct Event {
     logMessage @18 :Text;
     errorLogMessage @85 :Text;
 
+    # touch frame
+    touch @135 :List(Touch);
+
     # navigation
     navInstruction @82 :NavInstruction;
     navRoute @83 :NavRoute;

cereal/services.py

@@ -22,6 +22,7 @@ _services: dict[str, tuple] = {
   "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
+  "touch": (True, 20.),
   "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10),
   "selfdriveState": (True, 100., 10),

system/hardware/hardwared.py

@@ -2,6 +2,7 @@
 import os
 import json
 import queue
+import struct
 import threading
 import time
 from collections import OrderedDict, namedtuple
@@ -59,6 +60,32 @@ def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_tex
   prev_offroad_states[offroad_alert] = (show_alert, extra_text)
   set_offroad_alert(offroad_alert, show_alert, extra_text)
 
+def touch_thread(end_event):
+  pm = messaging.PubMaster(["touch"])
+
+  event_format = "llHHi"
+  event_size = struct.calcsize(event_format)
+  event_frame = []
+
+  with open("/dev/input/by-path/platform-894000.i2c-event", "rb") as event_file:
+    while not end_event.is_set():
+      event = event_file.read(event_size)
+      if event:
+        (sec, usec, etype, code, value) = struct.unpack(event_format, event)
+        if etype != 0 or code != 0 or value != 0:
+          touch = log.Touch.new_message()
+          touch.sec = sec
+          touch.usec = usec
+          touch.type = etype
+          touch.code = code
+          touch.value = value
+          event_frame.append(touch)
+        else: # end of frame, push new log
+          msg = messaging.new_message('touch', len(event_frame), valid=True)
+          msg.touch = event_frame
+          pm.send('touch', msg)
+          event_frame = []
+
 
 def hw_state_thread(end_event, hw_queue):
   """Handles non critical hardware state, and sends over queue"""
@@ -420,6 +447,9 @@ def main():
     threading.Thread(target=hardware_thread, args=(end_event, hw_queue)),
   ]
 
+  if TICI:
+    threads.append(threading.Thread(target=touch_thread, args=(end_event,)))
+
   for t in threads:
     t.start()