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modeld standby on lat inactive, dashcamd always-on, alert suppression

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- modeld: enter standby when latActive=false (not just standstill),
  exception for lane changes (no_lat_lane_change). Fix Python capnp
  property access (.latActive not getLatActive())
- controlsd: move model_suppress computation early, suppress radarFault,
  posenetInvalid, locationdTemporaryError, paramsdTemporaryError during
  model standby + 2s grace period. All cascade from modeld not publishing
- dashcamd: always_run (manages own trip lifecycle), wait for valid frame
  dimensions before encoding (fix SIGSEGV on early start)
- Fan: driving range 15-100% (was 30-100%)

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Brian Hanson
2026-04-14 02:13:40 -05:00
parent 24f29dcfb7
commit b85ce8176d
6 changed files with 37 additions and 23 deletions
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20
selfdrive/clearpilot/dashcamd.cc
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@@ -130,18 +130,28 @@ int main(int argc, char *argv[]) {
if (do_exit) return 0;
LOGW("dashcamd: system time valid");
LOGW("dashcamd: connecting to camerad road stream");
LOGW("dashcamd: started, connecting to camerad road stream");
VisionIpcClient vipc("camerad", VISION_STREAM_ROAD, false);
while (!do_exit && !vipc.connect(false)) {
usleep(100000);
}
if (do_exit) return 0;
LOGW("dashcamd: vipc connected, waiting for valid frame");
int width = vipc.buffers[0].width;
int height = vipc.buffers[0].height;
int y_stride = vipc.buffers[0].stride;
// Wait for a frame with valid dimensions (camerad may still be initializing)
VisionBuf *init_buf = nullptr;
while (!do_exit) {
init_buf = vipc.recv();
if (init_buf != nullptr && init_buf->width > 0 && init_buf->height > 0) break;
usleep(100000);
}
if (do_exit) return 0;
int width = init_buf->width;
int height = init_buf->height;
int y_stride = init_buf->stride;
int uv_stride = y_stride;
LOGW("dashcamd: connected %dx%d, stride=%d", width, height, y_stride);
LOGW("dashcamd: first valid frame %dx%d stride=%d", width, height, y_stride);
// Subscribe to carState (gear), deviceState (ignition), gpsLocation (subtitles)
SubMaster sm({"carState", "deviceState", "gpsLocation"});