parked-controlsd mode: shut down heavy stack while ignition+park

Adds a second controlsd variant that runs while ignition is on but the
car is in Park. It only listens to CAN and publishes carState — no
model, no planner, no lateral/long control, no actuator commands — so
modeld, locationd, calibrationd, plannerd, radard, paramsd, torqued,
dmonitoring*, soundd, loggerd all stay stopped while parked.

Manager swaps between the two via mutually-exclusive predicates:
  - controlsd_parked: ignition AND not started
  - controlsd (full): started (= ignition AND not_parked)

Thermald owns the swap. It already subscribes to carState; we add a
new onroad condition `not_parked` derived from gearShifter, with a
1.5s hysteresis on going into parked (R/P/D thrash protection) and
zero hysteresis on going out (instant wake on shift to D/R/N). At
boot we assume parked so the heavy stack waits for carState to
confirm gear has actually left Park.

Manager predicates can only see persistent Params, not pandaStates,
so thermald exposes ignition as a new IgnitionOn param (edge-written).
Reverse is treated as not-parked — driver is moving.

Files:
- selfdrive/controls/controlsd_parked.py (new, ~50 lines)
- selfdrive/thermald/thermald.py: not_parked condition + IgnitionOn
- selfdrive/manager/process_config.py: parked_only predicate + entry
- selfdrive/manager/manager.py: seed IgnitionOn=False
- common/params.cc: register IgnitionOn

The full controlsd is unchanged.

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

This commit is contained in:

brian

2026-04-26 09:13:41 -05:00

parent f7e602c00b

commit 887b9c9e12

5 changed files with 105 additions and 0 deletions

									
										selfdrive/manager/manager.py
									
		+3
		
												View File
												
				@@ -363,6 +363,9 @@ def manager_init(frogpilot_functions) -> None:

				  params.put("GitRemote", get_origin())

				  params.put_bool("IsTestedBranch", is_tested_branch())

				  params.put_bool("IsReleaseBranch", is_release_branch())

				  # CLEARPILOT: thermald is the source of truth for IgnitionOn; seed False so

				  # the parked-controlsd predicate evaluates to False before thermald's first tick.

				  params.put_bool("IgnitionOn", False)

				  # set dongle id

				  reg_res = register(show_spinner=True)