selfcheck.py: add hardware health checks (#192)

* selfcheck: Add hardware health checks

* docs: Update selfcheck documentation (en/ru)

* selfcheck: "Hardware health" -> "RPi health"

clever/src/selfcheck.py

@@ -715,6 +715,41 @@ def check_network():
             failure('Not found %s in /etc/hosts, ROS will malfunction if network interfaces are down, https://clever.coex.tech/hostname', ros_hostname)
 
 
+@check('RPi health')
+def check_rpi_health():
+    # `vcgencmd get_throttled` output codes taken from
+    # https://github.com/raspberrypi/documentation/blob/JamesH65-patch-vcgencmd-vcdbg-docs/raspbian/applications/vcgencmd.md#get_throttled
+    # TODO: support more base platforms?
+    FLAG_UNDERVOLTAGE_NOW = 0x1
+    FLAG_FREQ_CAP_NOW = 0x2
+    FLAG_THROTTLING_NOW = 0x4
+    FLAG_THERMAL_LIMIT_NOW = 0x8
+    FLAG_UNDERVOLTAGE_OCCURRED = 0x10000
+    FLAG_FREQ_CAP_OCCURRED = 0x20000
+    FLAG_THROTTLING_OCCURRED = 0x40000
+    FLAG_THERMAL_LIMIT_OUCCURRED = 0x80000
+
+    try:
+        # vcgencmd outputs a single string in a form of
+        # <parameter>=<value>
+        # In case of `get_throttled`, <value> is a hexadecimal number
+        # with some of the FLAGs OR'ed together
+        output = subprocess.check_output(['vcgencmd', 'get_throttled'])
+    except OSError:
+        failure('Could not call vcgencmd binary; not a Raspberry Pi?')
+        return
+
+    throttle_mask = int(output.split('=')[1], base=16)
+    if throttle_mask & (FLAG_THROTTLING_NOW | FLAG_THROTTLING_OCCURRED):
+        failure('System throttled to prevent damage')
+    if throttle_mask & (FLAG_UNDERVOLTAGE_NOW | FLAG_UNDERVOLTAGE_OCCURRED):
+        failure('Not enough power for onboard computer, flight inadvisable')
+    if throttle_mask & (FLAG_FREQ_CAP_NOW | FLAG_FREQ_CAP_OCCURRED):
+        failure('CPU frequency reduced to avoid overheating')
+    if throttle_mask & (FLAG_THERMAL_LIMIT_NOW | FLAG_THERMAL_LIMIT_OUCCURRED):
+        failure('CPU over soft temperature limit, expect performance loss')
+
+
 def selfcheck():
     check_image()
     check_clever_service()
@@ -731,6 +766,7 @@ def selfcheck():
     check_optical_flow()
     check_vpe()
     check_rangefinder()
+    check_rpi_health()
     check_cpu_usage()
     check_boot_duration()
 

docs/en/selfcheck.md

@@ -21,7 +21,9 @@ Description of some checks:
 * Global position (GPS) — checks for presence of global position data (GPS module is required for this check);
 * Camera — checks for proper operation of the Raspberry camera.
 * ArUco — checks whether [ArUco](aruco.md) detection is working
-* VPE — checks whether VPE data is published
-* Rangefinder — checks whether [rangefinder](laser.md) data is published
+* VPE — checks whether VPE data is published.
+* Rangefinder — checks whether [rangefinder](laser.md) data is published.
+* RPi health – checks the [onboard computer](raspberrypi.md) status.
+* CPU usage – checks the CPU load of the onboard computer.
 
 > **Caution** Pay attention on the checks marked with *WARN* sign. If necessary, contact [Copter Express technical support](tg://resolve?domain=COEXHelpdesk).

docs/ru/selfcheck.md

@@ -21,5 +21,7 @@ rosrun clever selfcheck.py
 * ArUco – проверка работы [распознавания ArUco-маркеров](aruco.md).
 * VPE – проверка правильности работы VPE.
 * Rangefinder – проверка работы [дальномера](laser.md).
+* RPi health – проверка состояния [бортового компьютера](raspberrypi.md).
+* CPU usage – проверка загруженности процессора бортового компьютера.
 
 > **Caution** Обращайте пристальное внимание на предупреждения, отмеченные строкой *WARN*. При необходимости, обращайтесь в [Техподдержку Copter Express](tg://resolve?domain=COEXHelpdesk).