park mode: pause self-driving processes, keep car ECU heartbeat
When the car is in park (ignition still on), pause everything that
isn't strictly needed and keep controlsd in a minimal-cycle keepalive
mode so the car's steering ECU keeps seeing the LFA/LKAS CAN-FD
messages and stays in tester mode (no steering fault on shift to drive).
controlsd:
- Detects park gear, writes ParkMode to /dev/shm/params.
- park_mode_tick(): publishes a do-nothing CarControl through
self.card (CarController.update unconditionally appends the
steering messages every cycle, which is the actual heartbeat).
Still runs clearpilot_state_control so the LFA/debug button +
ScreenDisplayMode keep working in park.
- After park→drive, stay in keepalive-tick mode until SubMaster
reports all services healthy (an 8s hard cap as safety net).
Avoids the burst of commIssue alerts that would otherwise fire
while modeld/plannerd/paramsd/torqued/dmonitoringd/calibrationd/
frogpilot_process spin back up from cold.
manager / process_config:
- New gating helpers _park_mode(), only_onroad_active,
driverview_active, always_run_unless_parked.
- Re-gated to only_onroad_active: modeld, sensord, soundd, locationd,
calibrationd, torqued, paramsd, plannerd, radard, speed_logicd.
- Re-gated to driverview_active: dmonitoringmodeld, dmonitoringd.
- frogpilot_process → always_run_unless_parked (preserves offroad
behavior, only pauses when ignition+parked).
- controlsd stays plain only_onroad — it's the writer + heartbeat.
- ParkMode registered in params.cc, defaulted to "0" in manager_init.
thermald + fan_controller (broken-tree rule, ported):
- thermald subscribes to carState; passes standstill, is_parked,
cruise_engaged into fan_controller.update.
- New fan range rules:
parked → 0-100% (no floor, full cooling)
cruise on → 30-100%
standstill → 10-100%
moving → 30-100%
ignition off → 0-30% (existing)
dashcamd: already park-aware via gear-driven trip lifecycle — no
change needed.
Verified: build clean. Launched on bench: park mode kicks in on
startup (gearShifter=unknown initially → eventually park),
modeld/plannerd/paramsd/torqued/calibrationd/frogpilot_process
correctly disappear from the manager process list, gpsd/dashcamd/
ui/controlsd/pandad stay alive, ParkMode=1 in /dev/shm/params.
This commit is contained in:
@@ -321,6 +321,7 @@ def manager_init(frogpilot_functions) -> None:
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("ModelFps", "20"),
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("ModelStandby", "0"),
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("ModelStandbyTs", "0"),
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("ParkMode", "0"),
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("ShutdownTouchReset", "0"),
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("TelemetryEnabled", "0"),
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("VpnEnabled", "1"),
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@@ -39,6 +39,25 @@ def always_run(started, params, CP: car.CarParams) -> bool:
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def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
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return started
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# CLEARPILOT: park-mode gating. controlsd writes ParkMode to /dev/shm/params
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# when the car is parked (ignition still on). Manager's ensure_running loop
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# reads these gates every tick and stops/starts processes naturally as the
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# flag flips. controlsd itself stays on plain `started` (it's the one
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# writing the flag and emitting the steering keepalive to the car's ECU).
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def _park_mode() -> bool:
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return Params("/dev/shm/params").get_bool("ParkMode")
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def only_onroad_active(started: bool, params, CP: car.CarParams) -> bool:
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return started and not _park_mode()
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def driverview_active(started: bool, params, CP: car.CarParams) -> bool:
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return driverview(started, params, CP) and not _park_mode()
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def always_run_unless_parked(started, params, CP: car.CarParams) -> bool:
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# Same as always_run, but pauses while ignition is on and the car is parked.
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# Preserves offroad behavior; only changes the started+parked case.
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return not (started and _park_mode())
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def only_offroad(started, params, CP: car.CarParams) -> bool:
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return not started
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@@ -63,26 +82,26 @@ procs = [
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PythonProcess("micd", "system.micd", iscar),
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PythonProcess("timed", "system.timed", always_run, enabled=not PC),
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PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
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PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview_active, enabled=(not PC or WEBCAM)),
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# CLEARPILOT: disabled segment + camera logging — no rlog/qlog or .hevc
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# files written to /data/media/0/realdata. We don't use comma's upload/
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# replay pipeline. Keep deleter running for any leftover cleanup.
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# NativeProcess("encoderd", "system/loggerd", ["./encoderd"], allow_logging),
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# NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
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# NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging),
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NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
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NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad_active),
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#NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
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#PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
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NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
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NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad_active, enabled=not PC),
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NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None), always_watchdog=only_offroad),
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PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
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NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
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PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad_active),
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NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad_active),
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NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False),
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PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
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PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
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PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad_active),
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PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad_active),
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PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
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PythonProcess("deleter", "system.loggerd.deleter", always_run),
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PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
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PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview_active, enabled=(not PC or WEBCAM)),
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# PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), # Fixme
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# CLEARPILOT: replacement for qcomgpsd (whose diag interface is broken on this device).
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# Uses Quectel modem AT commands via mmcli. Self-driving does NOT consume this; locationd
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@@ -90,18 +109,18 @@ procs = [
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PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),
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# CLEARPILOT: speed/cruise overlay daemon. Reads gpsLocation + carState, writes display
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# params for the onroad UI; asserts ClearpilotPlayDing on speed-limit warning transitions.
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PythonProcess("speed_logicd", "selfdrive.clearpilot.speed_logicd", only_onroad),
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PythonProcess("speed_logicd", "selfdrive.clearpilot.speed_logicd", only_onroad_active),
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# CLEARPILOT: dashcam — VisionIPC frames → OMX H.264 → 3-min MP4 segments + SRT
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# GPS subtitles in /data/media/0/videos/. Manages its own trip lifecycle.
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NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], always_run),
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# PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
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#PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
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PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
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PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad_active),
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NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
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PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
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PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
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PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
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PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad_active),
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PythonProcess("radard", "selfdrive.controls.radard", only_onroad_active),
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PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),
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PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC),
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# PythonProcess("updated", "selfdrive.updated.updated", always_run, enabled=not PC),
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@@ -115,7 +134,7 @@ procs = [
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# FrogPilot processes
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PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", always_run),
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PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),
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PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run_unless_parked),
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]
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managed_processes = {p.name: p for p in procs}
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