add USB logging

cereal/log.capnp

@@ -684,6 +684,14 @@ struct PeripheralState {
   }
 }
 
+struct UsbState {
+  connected @0 :Bool;
+  speedMbps @1 :UInt16;
+  pmActive @2 :Bool;
+  disconnectCount @3 :UInt32;
+  overCurrentCount @4 :UInt32;
+}
+
 struct RadarState @0x9a185389d6fdd05f {
   mdMonoTime @6 :UInt64;
   carStateMonoTime @11 :UInt64;
@@ -2472,6 +2480,7 @@ struct Event {
     temperatureSensor @97 :SensorEventData;
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
+    usbState @152 :UsbState;
     radarState @13 :RadarState;
     liveTracks @131 :Car.RadarData;
     sendcan @17 :List(CanData);

cereal/services.py

@@ -32,6 +32,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "selfdriveState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
+  "usbState": (True, 10., 1),
   "radarState": (True, 20., 5),
   "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),

selfdrive/test/test_onroad.py

@@ -48,6 +48,7 @@
   "selfdrive.modeld.modeld": 22.0,
   "selfdrive.modeld.dmonitoringmodeld": 18.0,
   "system.hardware.hardwared": 4.0,
+  "system.hardware.usbd": 1.0,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.locationd.locationd": 25.0,

system/hardware/usbd.py

@@ -0,0 +1,71 @@
+#!/usr/bin/env python3
+from pathlib import Path
+
+from cereal import messaging
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.modeld.helpers import USBGPU_VID, USBGPU_PID
+
+RATE = 10  # Hz
+
+
+def find_device() -> Path | None:
+  # discover the eGPU by VID/PID
+  for d in Path("/sys/bus/usb/devices").glob("*"):
+    try:
+      if int((d / "idVendor").read_text(), 16) == USBGPU_VID and \
+          int((d / "idProduct").read_text(), 16) == USBGPU_PID:
+        return d
+    except Exception:
+      pass
+  return None
+
+
+def read(device: Path, attr: str) -> str | None:
+  try:
+    return (device / attr).read_text().strip()
+  except OSError:
+    return None
+
+
+def over_current_count(device: Path) -> int:
+  # upstream root-hub port, e.g. device "4-1" -> usb4/4-0:1.0/usb4-port1
+  bus, _, port = device.name.partition("-")
+  try:
+    return int((Path(f"/sys/bus/usb/devices/usb{bus}/{bus}-0:1.0/usb{bus}-port{port}") / "over_current_count").read_text())
+  except (OSError, ValueError):
+    return 0
+
+
+def main():
+  pm = messaging.PubMaster(['usbState'])
+  rk = Ratekeeper(RATE)
+  disconnect_count = 0
+  was_connected = False
+
+  while True:
+    device = find_device()
+    connected = device is not None
+    if was_connected and not connected:
+      disconnect_count += 1
+      cloudlog.event("usb_disconnected", count=disconnect_count)
+    elif connected and not was_connected:
+      cloudlog.event("usb_connected", speed=read(device, "speed"))
+    was_connected = connected
+
+    msg = messaging.new_message('usbState', valid=True)
+    state = msg.usbState
+    state.connected = connected
+    if device is not None:
+      speed = read(device, "speed")
+      state.speedMbps = int(speed) if (speed and speed.isdigit()) else 0
+      state.pmActive = read(device, "power/runtime_status") == "active"
+      state.overCurrentCount = over_current_count(device)
+    state.disconnectCount = disconnect_count
+
+    pm.send('usbState', msg)
+    rk.keep_time()
+
+
+if __name__ == "__main__":
+  main()

system/manager/process_config.py

@@ -106,6 +106,7 @@ def and_(*fns):
   PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
+  PythonProcess("usbd", "system.hardware.usbd", always_run),
   PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=TICI),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),