"Soft" reboot button

Add function to perform a "soft" reboot for quicker reboots.

Co-Authored-By: CHaucke89 <132518562+chaucke89@users.noreply.github.com>

common/params.cc

@@ -258,6 +258,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisableOnroadUploads", PERSISTENT},
     {"DisableOpenpilotLongitudinal", PERSISTENT},
     {"DisengageVolume", PERSISTENT},
+    {"DoSoftReboot", CLEAR_ON_MANAGER_START},
     {"DragonPilotTune", PERSISTENT},
     {"DriverCamera", PERSISTENT},
     {"DriveStats", PERSISTENT},

selfdrive/manager/manager.py

@@ -415,7 +415,7 @@ def manager_thread() -> None:
 
     # Exit main loop when uninstall/shutdown/reboot is needed
     shutdown = False
-    for param in ("DoUninstall", "DoShutdown", "DoReboot"):
+    for param in ("DoUninstall", "DoShutdown", "DoReboot", "DoSoftReboot"):
       if params.get_bool(param):
         shutdown = True
         params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
@@ -491,6 +491,9 @@ def main() -> None:
   if params.get_bool("DoUninstall"):
     cloudlog.warning("uninstalling")
     HARDWARE.uninstall()
+  elif params.get_bool("DoSoftReboot"):
+    cloudlog.warning("softreboot")
+    HARDWARE.soft_reboot()
   elif params.get_bool("DoReboot"):
     cloudlog.warning("reboot")
     HARDWARE.reboot()

selfdrive/ui/qt/offroad/settings.cc

@@ -507,6 +507,11 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   power_layout->addWidget(reboot_btn);
   QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot);
 
+  QPushButton *softreboot_btn = new QPushButton(tr("Soft Reboot"));
+  softreboot_btn->setObjectName("softreboot_btn");
+  power_layout->addWidget(softreboot_btn);
+  QObject::connect(softreboot_btn, &QPushButton::clicked, this, &DevicePanel::softreboot);
+
   QPushButton *poweroff_btn = new QPushButton(tr("Power Off"));
   poweroff_btn->setObjectName("poweroff_btn");
   power_layout->addWidget(poweroff_btn);
@@ -517,8 +522,10 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   }
 
   setStyleSheet(R"(
-    #reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; }
+    #softreboot_btn { height: 120px; border-radius: 15px; background-color: #e2e22c; }
-    #reboot_btn:pressed { background-color: #4a4a4a; }
+    #softreboot_btn:pressed { background-color: #ffe224; }
+    #reboot_btn { height: 120px; border-radius: 15px; background-color: #e2872c; }
+    #reboot_btn:pressed { background-color: #ff9724; }
     #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
     #poweroff_btn:pressed { background-color: #FF2424; }
   )");
@@ -562,6 +569,18 @@ void DevicePanel::reboot() {
   }
 }
 
+void DevicePanel::softreboot() {
+  if (!uiState()->engaged()) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to soft reboot?"), tr("Soft Reboot"), this)) {
+      if (!uiState()->engaged()) {
+        params.putBool("DoSoftReboot", true);
+      }
+    }
+  } else {
+    ConfirmationDialog::alert(tr("Disengage to Soft Reboot"), this);
+  }
+}
+
 void DevicePanel::poweroff() {
   if (!uiState()->engaged()) {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) {

selfdrive/ui/qt/offroad/settings.h

@@ -60,6 +60,7 @@ signals:
 private slots:
   void poweroff();
   void reboot();
+  void softreboot();
   void updateCalibDescription();
 
 private:

system/hardware/base.h

@@ -26,6 +26,7 @@ public:
   }
 
   static void reboot() {}
+  static void soft_reboot() {}
   static void poweroff() {}
   static void set_brightness(int percent) {}
   static void set_display_power(bool on) {}

system/hardware/base.py

@@ -30,6 +30,10 @@ class HardwareBase(ABC):
   def reboot(self, reason=None):
     pass
 
+  @abstractmethod
+  def soft_reboot(self):
+    pass
+
   @abstractmethod
   def uninstall(self):
     pass

system/hardware/pc/hardware.py

@@ -20,6 +20,9 @@ class Pc(HardwareBase):
   def reboot(self, reason=None):
     print("REBOOT!")
   
+  def soft_reboot(self):
+    print("SOFT REBOOT!")
+
   def uninstall(self):
     print("uninstall")
 

system/hardware/tici/hardware.h

@@ -50,6 +50,13 @@ public:
   }
 
   static void reboot() { std::system("sudo reboot"); }
+  static void soft_reboot() {
+    std::system("echo 894000.i2c | sudo tee /sys/bus/platform/drivers/i2c_geni/unbind");
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    std::system("echo 894000.i2c | sudo tee /sys/bus/platform/drivers/i2c_geni/bind");
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    std::system("sudo systemctl restart comma");
+  }
   static void poweroff() { std::system("sudo poweroff"); }
   static void set_brightness(int percent) {
     std::string max = util::read_file("/sys/class/backlight/panel0-backlight/max_brightness");

system/hardware/tici/hardware.py

@@ -134,6 +134,14 @@ class Tici(HardwareBase):
   def reboot(self, reason=None):
     subprocess.check_output(["sudo", "reboot"])
 
+  def soft_reboot(self):
+    # Reload the touchscreen driver to reset touch_count and avoid triggering a system reset prompt
+    sudo_write("894000.i2c", "/sys/bus/platform/drivers/i2c_geni/unbind")
+    time.sleep(0.5)
+    sudo_write("894000.i2c", "/sys/bus/platform/drivers/i2c_geni/bind")
+    time.sleep(0.5)
+    os.system("sudo systemctl restart comma")
+
   def uninstall(self):
     Path("/data/__system_reset__").touch()
     os.sync()