Initial hardware support for Rubik pi (#1989)

Author: samfreund

photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsManager.java

@@ -29,6 +29,7 @@
 import org.photonvision.common.hardware.metrics.cmds.FileCmds;
 import org.photonvision.common.hardware.metrics.cmds.LinuxCmds;
 import org.photonvision.common.hardware.metrics.cmds.PiCmds;
+import org.photonvision.common.hardware.metrics.cmds.QCS6490Cmds;
 import org.photonvision.common.hardware.metrics.cmds.RK3588Cmds;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -49,6 +50,8 @@ public void setConfig(HardwareConfig config) {
             cmds = new PiCmds(); // Pi's can use a hardcoded command set
         } else if (Platform.isRK3588()) {
             cmds = new RK3588Cmds(); // RK3588 chipset hardcoded command set
+        } else if (Platform.isQCS6490()) {
+            cmds = new QCS6490Cmds(); // QCS6490 chipset hardcoded command set
         } else if (Platform.isLinux()) {
             cmds = new LinuxCmds(); // Linux/Unix platforms assume a nominal command set
         } else {

photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/QCS6490Cmds.java

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.hardware.metrics.cmds;
+
+import org.photonvision.common.configuration.HardwareConfig;
+
+public class QCS6490Cmds extends LinuxCmds {
+    /** Applies pi-specific commands, ignoring any input configuration */
+    public void initCmds(HardwareConfig config) {
+        super.initCmds(config);
+
+        /* Thermal zone information can be found in /sys/class/thermal/thermal_zone* directories:
+         * zone/type: Contains the thermal zone type/name (e.g., "acpi", "x86_pkg_temp")
+         * zone/temp: Current temperature in millidegrees Celsius (divide by 1000 for actual temp)
+         * zone/policy: Thermal governor policy (e.g., "step_wise", "power_allocator")
+         * Each thermal_zone* directory represents a different temperature sensor in the system
+         */
+
+        cpuTemperatureCommand =
+                "cat /sys/class/thermal/thermal_zone10/temp | awk '{printf \"%.1f\", $1/1000}'";
+
+        // TODO: NPU usage, doesn't seem to be in the same place as the opi. We're gonna just wait on QC
+        // to get back to us on this one.
+    }
+}

photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java

@@ -51,6 +51,13 @@ public enum Platform {
             false,
             OSType.LINUX,
             true),
+    LINUX_QCS6490(
+            "Linux AARCH 64-bit with QCS6490",
+            Platform::getLinuxDeviceTreeModel,
+            "linuxarm64",
+            true,
+            OSType.LINUX,
+            true), // QCS6490 SBCs
     LINUX_AARCH64(
             "Linux AARCH64",
             Platform::getLinuxDeviceTreeModel,
@@ -124,6 +131,10 @@ public static boolean isRK3588() {
         return Platform.isOrangePi() || Platform.isCoolPi4b() || Platform.isRock5C();
     }
 
+    public static boolean isQCS6490() {
+        return isRubik();
+    }
+
     public static boolean isRaspberryPi() {
         return currentPlatform.isPi;
     }
@@ -162,6 +173,7 @@ public static boolean isAthena() {
             String.format("Unknown Platform. OS: %s, Architecture: %s", OS_NAME, OS_ARCH);
     private static final String UnknownDeviceModelString = "Unknown";
 
+    // TODO: add rubik, but waiting for more info on architecture
     public static Platform getCurrentPlatform() {
         String OS_NAME;
         if (Platform.OS_NAME != null) {
@@ -219,6 +231,9 @@ public static Platform getCurrentPlatform() {
                 // TODO - os detection needed?
                 if (isRK3588()) {
                     return LINUX_RK3588_64;
+                } else if (isQCS6490()) {
+                    return LINUX_QCS6490;
+
                 } else {
                     return LINUX_AARCH64;
                 }
@@ -256,6 +271,10 @@ private static boolean isJetsonSBC() {
         return fileHasText("/proc/device-tree/model", "NVIDIA Jetson");
     }
 
+    private static boolean isRubik() {
+        return fileHasText("/proc/device-tree/model", "Rubik");
+    }
+
     static String getLinuxDeviceTreeModel() {
         var deviceTreeModelPath = Paths.get("/proc/device-tree/model");
         try {