modeld two-state; UI: immediate blank on ignition off; READY splash on wake

- modeld: simplified to 0fps (standstill or parked) or 20fps. Removed
  4/10fps reduced-rate path, republish caching, FPCC/liveCalibration
  reads, and ModelFps per-cycle param writes.
- ui.cc updateWakefulness: ignition on→off now resets interactive_timeout
  to 0 for immediate screen blank. Tap still wakes via existing handler.
- home.cc offroadTransition(false): reset ready->has_driven to false so
  the READY text appears on fresh ignition, not the textless post-drive
  splash.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

selfdrive/modeld/modeld.py

@@ -169,7 +169,7 @@ def main(demo=False):
 
   # messaging
   pm = PubMaster(["modelV2", "cameraOdometry"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl", "frogpilotCarControl", "liveTracks", "frogpilotPlan"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl", "liveTracks", "frogpilotPlan"])
 
   publish_state = PublishState()
   params = Params()
@@ -186,11 +186,6 @@ def main(demo=False):
   model_standby = False
   last_standby_ts_write = 0
   params_memory = Params("/dev/shm/params")
-  # CLEARPILOT: cache last model output for republishing on skip cycles. Keeps downstream
-  # cameraOdometry/modelV2 rate constant at 20Hz so services.py freq checks never fail
-  # during reduced-rate mode. Content is stale but we only reduce rate when not engaged,
-  # so no one is actually using it for control.
-  last_model_output = None
   nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)
   nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)
   buf_main, buf_extra = None, None
@@ -246,25 +241,18 @@ def main(demo=False):
 
     sm.update(0)
 
-    # CLEARPILOT: variable framerate — 4/10fps when not engaged, 20fps when engaged
+    # CLEARPILOT: two-state modeld — 0fps at standstill or parked, 20fps otherwise.
-    # (or lane changing / calibrating). Downstream services get a constant publish rate
-    # via the republish-caching below — only the GPU inference is skipped, so no
-    # freq_ok cascade in consumers.
-    fpcc = sm['frogpilotCarControl']
-    lat_active = fpcc.latRequested
-    lane_changing = fpcc.noLatLaneChange
     standstill = sm['carState'].standstill
-    calibrating = sm['liveCalibration'].calStatus != log.LiveCalibrationData.Status.calibrated
+    parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
-    full_rate = lat_active or lane_changing or calibrating
+    should_standby = standstill or parked
-
-    # Standby transitions (standstill only, when not at full rate)
-    should_standby = standstill and not full_rate
     if should_standby and not model_standby:
       params_memory.put_bool("ModelStandby", True)
+      params_memory.put("ModelFps", "0")
       model_standby = True
-      cloudlog.warning("modeld: standby ON (standstill)")
+      cloudlog.warning("modeld: standby ON")
     elif not should_standby and model_standby:
       params_memory.put_bool("ModelStandby", False)
+      params_memory.put("ModelFps", "20")
       model_standby = False
       run_count = 0
       frame_dropped_filter.x = 0.
@@ -277,28 +265,6 @@ def main(demo=False):
       last_vipc_frame_id = meta_main.frame_id
       continue
 
-    # CLEARPILOT: reduced framerate: skip GPU inference on most frames but still
-    # republish cached output at full 20Hz so downstream services never see a rate
-    # drop (avoids freq_ok → valid cascade that causes "Communication Issue" false
-    # positives on engage). Daylight: skip 1/2 (compute at 10fps), night: skip 4/5
-    # (compute at 4fps). ModelStandbyTs still written for model_suppress window.
-    republish_only = False
-    if not full_rate:
-      is_daylight = params_memory.get_bool("IsDaylight")
-      skip_interval = 2 if is_daylight else 5
-      target_fps = b"10" if is_daylight else b"4"
-      if params_memory.get("ModelFps") != target_fps:
-        params_memory.put("ModelFps", target_fps.decode())
-      now = _time.monotonic()
-      if now - last_standby_ts_write > 1.0:
-        params_memory.put("ModelStandbyTs", str(now))
-        last_standby_ts_write = now
-      if run_count % skip_interval != 0:
-        republish_only = True
-    else:
-      if params_memory.get("ModelFps") != b"20":
-        params_memory.put("ModelFps", "20")
-
     desire = DH.desire
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
@@ -370,21 +336,12 @@ def main(demo=False):
       **({'radar_tracks': radar_tracks,} if DISABLE_RADAR else {}),
     }
 
-    # CLEARPILOT: on republish cycles, skip the GPU inference and reuse the last
-    # model output. Publish rate stays at 20Hz, compute rate is reduced.
-    if republish_only and last_model_output is not None:
-      model_output = last_model_output
-      model_execution_time = 0.0
-    else:
     mt1 = time.perf_counter()
     model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
     mt2 = time.perf_counter()
     model_execution_time = mt2 - mt1
 
     if model_output is not None:
-      # cache for next republish cycle
-      last_model_output = model_output
-
       modelv2_send = messaging.new_message('modelV2')
       posenet_send = messaging.new_message('cameraOdometry')
       fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,

selfdrive/ui/qt/home.cc

@@ -122,9 +122,11 @@ void HomeWindow::offroadTransition(bool offroad) {
     slayout->setCurrentWidget(ready);
   } else {
     // CLEARPILOT: start onroad in splash — updateState will switch to
-    // camera view once the car shifts out of park
+    // camera view once the car shifts out of park. Reset has_driven so
+    // fresh ignition shows the READY text (not the post-drive textless splash).
     LOGW("CLP UI: onroad transition -> showing splash (parked)");
     was_parked_onroad = true;
+    ready->has_driven = false;
     slayout->setCurrentWidget(ready);
   }
 }

selfdrive/ui/ui.cc

@@ -558,7 +558,10 @@ void Device::updateWakefulness(const UIState &s) {
   }
 
   if (ignition_state_changed) {
-    if (ignition_on && s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) {
+    if (!ignition_on) {
+      // CLEARPILOT: ignition on→off blanks the screen immediately (tap still wakes).
+      resetInteractiveTimeout(0, 0);
+    } else if (s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) {
       resetInteractiveTimeout(0, 0);
     } else {
       resetInteractiveTimeout(s.scene.screen_timeout, s.scene.screen_timeout_onroad);