parked-controlsd: tester-present heartbeat; cruise-set keeps full stack; dashcam idle on park

Three independent changes for the parked-controlsd architecture.

controlsd_parked: send the Hyundai HDA2 tester-present heartbeat
("\x02\x3E\x80\x00\x00\x00\x00\x00") at 1 Hz to 0x730 on E-CAN while we're
the active controlsd variant. The full carcontroller normally sends this
to keep the ADAS ECU held in its disabled diagnostic session — when full
controlsd hands off to parked-controlsd, the heartbeat used to stop, the
ECU would time out (~5 s default-session timeout) and snap back to stock,
lighting up the LKAS / blind-spot warning icons on the cluster. Continuing
the heartbeat from the parked variant keeps the ECU disabled across the
swap. The panda safety filter only allows tester-present on 0x730 so this
is the only "graceful release" mechanism available to us.

thermald: cruise-set override on the parked check. If carState.cruiseState
.speed > 0 (engaged OR paused-with-speed-set), stay in not_parked even if
gear is in P. The user can shift to park at a stop, glance at the cluster
to verify cruise is still set, and roll forward without waiting for full
controlsd to spin up. PARKED_HYSTERESIS_S still applies for the
gear-in-park-no-cruise → parked transition.

dashcamd: close the trip immediately on gear shift to PARK (was: 10-min
idle timer before close). User wants the dashcam idle in park and a fresh
trip on every drive engagement; brief drive-thru / fuel-stop across-trip
continuity isn't valued.

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

selfdrive/clearpilot/dashcamd.cc

@@ -12,20 +12,20 @@
  * Trip lifecycle state machine:
  *
  *   WAITING:
- *     - Process starts in this state
+ *     - Process starts in this state. Idle.
  *     - Waits for valid system time (year >= 2024) AND car in drive gear
  *     - Transitions to RECORDING when both conditions met
  *
  *   RECORDING:
  *     - Actively encoding frames, car is in drive
- *     - Car leaves drive → start 10-min idle timer → IDLE_TIMEOUT
- *
- *   IDLE_TIMEOUT:
- *     - Car left drive, still recording with timer running
- *     - Car re-enters drive → cancel timer → RECORDING
- *     - Timer expires → close trip → WAITING
+ *     - Gear shift into PARK → close trip immediately → WAITING (idle)
  *     - Ignition off → close trip → WAITING
  *
+ *   IDLE_TIMEOUT (deprecated, retained for safety):
+ *     - Was used to keep recording across brief drive-thru / fuel stops.
+ *     - Now unreachable: drive→park transitions close the trip immediately
+ *       and a fresh trip starts on the next drive engagement.
+ *
  *   Graceful shutdown (DashcamShutdown param):
  *     - thermald sets DashcamShutdown="1" before device power-off
  *     - dashcamd closes current segment, acks, exits
@@ -301,10 +301,11 @@ int main(int argc, char *argv[]) {
       }
 
       case RECORDING:
-        if (!in_drive) {
-          idle_timer_start = now;
-          state = IDLE_TIMEOUT;
-          LOGW("dashcamd: car left drive, starting 10-min idle timer");
+        // CLEARPILOT: close trip immediately on park (no idle timer). User wants
+        // dashcam idle in park, fresh trip on each drive engagement.
+        if (gear == cereal::CarState::GearShifter::PARK) {
+          LOGW("dashcamd: gear in park, closing trip");
+          close_trip();
         }
         break;
 

selfdrive/controls/controlsd_parked.py

@@ -11,11 +11,24 @@ Manager swaps between this and the full controlsd via predicate flips:
   - full runs when:  started   (which requires ignition AND not_parked)
 
 The two are mutually exclusive — only one publishes carState at a time.
+
+We also keep the Hyundai HDA2 tester-present heartbeat alive while parked
+so the ADAS ECU doesn't snap back to default-session and light up LKAS /
+blind-spot warning icons on the cluster during the swap.
 """
 from types import SimpleNamespace
 
 from openpilot.common.realtime import Priority, config_realtime_process
+from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.card import CarD
+from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus as HyundaiCanBus
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
+
+# UDS Tester Present, suppressPositiveResponse — same bytes the full
+# carcontroller sends every 100 frames to 0x730 on E-CAN to keep the ADAS
+# ECU held in its disabled diagnostic session.
+TESTER_PRESENT = b"\x02\x3E\x80\x00\x00\x00\x00\x00"
+TESTER_PRESENT_PERIOD_FRAMES = 100  # ~1 Hz at the CAN-paced loop rate
 
 
 def _make_default_frogpilot_variables() -> SimpleNamespace:
@@ -43,12 +56,23 @@ def main():
 
   fv = _make_default_frogpilot_variables()
 
+  # Determine if this car wants the Hyundai HDA2 tester-present heartbeat,
+  # and which bus E-CAN is on for this panda configuration.
+  is_hda2 = card.CP.carName == "hyundai" and bool(card.CP.flags & HyundaiFlags.CANFD_HDA2.value)
+  ecan = HyundaiCanBus(card.CP).ECAN if is_hda2 else None
+
   # state_update drains CAN, parses carState, publishes carState/carOutput/carParams.
   # Internally blocks via drain_sock_raw(wait_for_one=True), so the loop is
   # naturally paced by CAN traffic — no extra sleep needed.
+  frame = 0
   while True:
     card.state_update(fv)
 
+    if is_hda2 and frame % TESTER_PRESENT_PERIOD_FRAMES == 0:
+      can_sends = [[0x730, 0, TESTER_PRESENT, ecan]]
+      card.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=True))
+    frame += 1
+
 
 if __name__ == "__main__":
   main()

selfdrive/thermald/thermald.py

@@ -263,11 +263,18 @@ def thermald_thread(end_event, hw_queue) -> None:
     # during low-speed parking don't kick the heavy stack off. Going OUT of
     # parked is instant so the full stack starts spinning up the moment the
     # driver shifts to D/R/N.
+    #
+    # Cruise override: if cruise control has any speed set (engaged OR
+    # paused-with-speed-set), keep the full stack running even in park. This
+    # means the user can shift to park at a stop, glance at the cluster to
+    # verify cruise is still set, and roll forward without waiting for full
+    # controlsd to spin back up.
     if sm.updated['carState']:
-      gear = sm['carState'].gearShifter
-      gear_is_park = gear == car.CarState.GearShifter.park
+      cs = sm['carState']
+      gear_is_park = cs.gearShifter == car.CarState.GearShifter.park
+      cruise_set = cs.cruiseState.speed > 0
       now_mono = time.monotonic()
-      if gear_is_park:
+      if gear_is_park and not cruise_set:
         if parked_since is None:
           parked_since = now_mono
         if (not is_parked) and (now_mono - parked_since) >= PARKED_HYSTERESIS_S: