From aac5f9d264980e9fcb8255df0a6ea437fe54ba7e Mon Sep 17 00:00:00 2001
From: Brian Hanson <brian@hanson.xyz>
Date: Mon, 4 May 2026 19:48:14 -0500
Subject: [PATCH] controlsd: gate park mode behind init + 10s post-init delay
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Park mode is now suppressed until two things happen:
1. self.initialized flips True (controlsd's normal init path runs and
   calls self.card.initialize() — which is what wires CarInterface up
   so controls_update actually generates CAN sends).
2. 10 s of normal step() execution after init completes.

Without (1), park_mode_tick's controls_update was a silent no-op — the
"keepalive heartbeat" never reached the car's ECU, and downstream
publishes (carState, carParams, carOutput) never went out either,
which is why the UI was stuck on the splash even after a gear shift
to drive (scene.parked reads the same carState that wasn't being
published).

The 10 s buffer (2) also gives all only_onroad_active processes a
clean cold-start window before manager starts pausing them — no
risk of catching them mid-init when ParkMode flips on.
---
 selfdrive/controls/controlsd.py | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 5e91138..1f330e2 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -88,9 +88,18 @@ class Controls:
     # exiting park, stay in keepalive-tick mode until SubMaster reports
     # everything healthy again, with an 8-second hard cap so we never get
     # stuck if some service is permanently broken.
+    #
+    # Park mode is suppressed for the first 10 seconds after init completes:
+    # card.initialize() runs in data_sample's not-initialized branch and is
+    # what hooks up CarInterface so controls_update actually generates CAN
+    # messages. If we entered park mode before that, the "heartbeat" would
+    # be silent — and only_onroad_active processes would never get a chance
+    # to come up cleanly the first time.
     self.park_mode = False
     self.park_exit_frame = -1
+    self.startup_complete_frame = -1
     self.PARK_GRACE_MAX_FRAMES = int(8.0 / DT_CTRL)
+    self.PARK_STARTUP_DELAY_FRAMES = int(10.0 / DT_CTRL)
 
     self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
 
@@ -1259,9 +1268,24 @@ class Controls:
     if (len(CS.buttonEvents) > 0):
       print (CS.buttonEvents)
 
+  def _park_mode_allowed(self):
+    # Don't allow park mode until init has completed AND we've run at least
+    # 10s of normal step() after init. card.initialize() (which hooks
+    # CarInterface up to send CAN) only runs on the init path, so we need
+    # to take that path at least once before short-circuiting into the
+    # minimal tick. The 10s buffer also lets only_onroad_active processes
+    # come up cleanly the first time before we ask manager to pause them.
+    if not self.initialized:
+      return False
+    if self.startup_complete_frame < 0:
+      self.startup_complete_frame = self.sm.frame
+    return (self.sm.frame - self.startup_complete_frame) >= self.PARK_STARTUP_DELAY_FRAMES
+
   def _update_park_mode(self, CS):
     # CLEARPILOT: track the gear-park flag and write ParkMode for manager.
     # On park→drive transition, capture the frame so the grace window starts.
+    if not self._park_mode_allowed():
+      return
     in_park = CS.gearShifter == GearShifter.park
     if in_park != self.park_mode:
       self.park_mode = in_park