docs: park-mode power savings retro

Captures the design we tried on 2026-05-04, the bugs we hit, and recommendations for v2. Force-pushed the failed attempt away from origin/clearpilot so the commits aren't recoverable from the remote; this document is the durable record of what was learned. Key takeaways for v2: - Throttle modeld/dmonitoringmodeld instead of killing them — the cold-spawn chain (modeld -> plannerd/frogpilot_process publishing longitudinalPlan/frogpilotPlan, plus locationd/sensord/etc. settling) is the root cause of the alert cascade. - card.initialize() must run before park-mode is entered (it wires up CarController so controls_update actually generates CAN sends). - NO_ENTRY alerts fire on engage attempt, not on engage success — any alert-suppression grace must key off CS.cruiseState.enabled rising edge, not just self.enabled. - The fan-range widening piece (parked -> 0-100% fan range, no floor) is independently safe to land without the rest of the park-mode plumbing.
ui: restore ready_text.png splash sprite
2026-05-04 20:10:57 -05:00 · 2026-05-04 19:07:54 -05:00 · 2026-05-04 19:07:54 -05:00
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+# Park-mode power savings — design notes & retro
+
+## Goal
+
+While ignition is on but the car is in **park**, reduce CPU/power draw by
+shutting down processes that aren't needed for "watching the gear lever."
+The constraint: the car's steering ECU must keep seeing the openpilot
+heartbeat (LFA / LKAS / LKAS_ALT CAN-FD messages, every controlsd cycle)
+or it drops out of tester mode and throws a steering fault on the next
+shift to drive.
+
+Behavior should approximate "ignition off" except:
+- controlsd stays alive (it's the heartbeat source and the gear watcher)
+- pandad / boardd / camerad / dashcamd / gpsd / ui / thermald keep running
+- everything else (modeld, locationd, paramsd, torqued, calibrationd,
+  plannerd, radard, dmonitoringmodeld, dmonitoringd, soundd, sensord,
+  speed_logicd, frogpilot_process) gets paused
+
+When the car shifts back to drive, all the paused processes spin up cold
+and openpilot resumes normal operation.
+
+## Status: reverted
+
+We attempted this on **2026-05-04** (commits `5d18ad1` → `1e4e95c`,
+force-pushed away). It built and launched fine on the bench but produced
+a cascade of false alerts during the park→drive transition in the car —
+"controlsd unresponsive", commIssue with longitudinalPlan/frogpilotPlan,
+locationd temporaryError, sensorDataInvalid. Reverted to tag
+`stable_5_4_26` (commit `0d1cedd`).
+
+This document captures the design we tried and the problems we ran into
+so the next attempt doesn't relearn the same mistakes.
+
+## Design we tried
+
+### 1. The flag
+
+A new memory param `ParkMode` (registered in `common/params.cc`,
+defaulted to `"0"` in `manager_init`'s memory-params loop). Lives at
+`/dev/shm/params/d/ParkMode`. Written by controlsd, read by
+process_config gating callbacks.
+
+### 2. controlsd writes the flag and runs a minimal cycle in park
+
+In `__init__`:
+```python
+self.park_mode = False
+self.park_exit_frame = -1
+self.startup_complete_frame = -1
+self.PARK_GRACE_MAX_FRAMES = int(15.0 / DT_CTRL)        # see "Park-grace cap" below
+self.PARK_STARTUP_DELAY_FRAMES = int(10.0 / DT_CTRL)    # see "Startup delay" below
+self.last_engaged_frame = -1
+self.last_engage_attempt_frame = -1
+self.POST_ENGAGE_LAG_GRACE_FRAMES = int(3.0 / DT_CTRL)
+```
+
+In `step()` after `data_sample()`:
+```python
+self._update_park_mode(CS)
+if self.park_mode or self._in_park_exit_grace():
+    self._park_mode_tick(CS)
+    self.CS_prev = CS
+    return
+# ... normal flow
+```
+
+Helpers:
+```python
+def _park_mode_allowed(self):
+    # Don't allow park mode until init has completed AND we've run at
+    # least PARK_STARTUP_DELAY_FRAMES of normal step() after init.
+    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):
+    if not self._park_mode_allowed():
+        return
+    in_park = CS.gearShifter == GearShifter.park
+    if in_park != self.park_mode:
+        self.park_mode = in_park
+        self.params_memory.put_bool("ParkMode", in_park)
+        if not in_park:
+            self.park_exit_frame = self.sm.frame
+
+def _in_park_exit_grace(self):
+    if self.park_exit_frame < 0:
+        return False
+    if (self.sm.frame - self.park_exit_frame) >= self.PARK_GRACE_MAX_FRAMES:
+        return False
+    return not (self.sm.all_checks() and not self.card.can_rcv_timeout)
+
+def _park_mode_tick(self, CS):
+    # Build a do-nothing CarControl; card.controls_update -> CI.apply ->
+    # CarController.update appends create_steering_messages()
+    # unconditionally, so the LFA/LKAS heartbeat keeps flowing.
+    CC = car.CarControl.new_message()
+    self.clearpilot_state_control(CC, CS)
+    self.card.controls_update(CC, self.frogpilot_variables)
+```
+
+Why every piece matters:
+- **`_park_mode_allowed` (10 s startup delay)**: `card.initialize()` is
+  only called inside `data_sample`'s `if not self.initialized` branch.
+  That call wires `CarInterface` up so `controls_update` actually
+  produces CAN sends. If we entered park-mode before init completed,
+  the heartbeat was a silent no-op. The 10 s buffer also lets all
+  `only_onroad_active` processes complete their cold-spawn the very
+  first time, before manager starts pausing them.
+- **`_in_park_exit_grace`**: when ParkMode flips off, the cold-spawn
+  chain takes time. Stay in keepalive-tick mode until SubMaster reports
+  everything healthy, with a hard cap as a safety net (we used 15 s,
+  saw it still wasn't enough — see "What broke" below).
+- **`_park_mode_tick` calls `card.controls_update`**: don't call
+  `state_update` or `data_sample` — `step()` already did that. Just
+  publish the empty CC to push the heartbeat CAN messages.
+
+### 3. Manager gating
+
+In `selfdrive/manager/process_config.py`:
+
+```python
+def _park_mode() -> bool:
+    return Params("/dev/shm/params").get_bool("ParkMode")
+
+def only_onroad_active(started, params, CP):
+    return started and not _park_mode()
+
+def driverview_active(started, params, CP):
+    return driverview(started, params, CP) and not _park_mode()
+
+def always_run_unless_parked(started, params, CP):
+    # Same as always_run, but pauses while ignition is on and parked.
+    # Preserves offroad behavior.
+    return not (started and _park_mode())
+```
+
+Re-gated:
+- `only_onroad` → `only_onroad_active`: modeld, sensord, soundd,
+  locationd, calibrationd, torqued, paramsd, plannerd, radard,
+  speed_logicd
+- `driverview` → `driverview_active`: dmonitoringmodeld, dmonitoringd
+- `always_run` → `always_run_unless_parked`: frogpilot_process
+
+`controlsd` stays plain `only_onroad` — it's the writer + heartbeat source.
+`camerad`, `pandad`, `thermald`, `ui`, `dashcamd`, `gpsd`, `deleter`,
+`fleet_manager`, `tombstoned`, `timed`, manager internals stay
+`always_run` (or whatever they were).
+
+### 4. Engage-attempt grace (separate from park-grace)
+
+The state transition into engaged briefly bumps the controlsd loop time
+over budget. `self.rk.lagging` flips True for a cycle, `update_events`
+adds `EventName.controlsdLagging`, which has an `ET.NO_ENTRY` alert
+("Controls Process Lagging: Reboot Your Device"). That alert fires
+right as the user is taking their hands off the wheel after pressing
+SET. Same goes for `commIssue` if any service is briefly stale.
+
+Solution: track two engagement edges — the actual transition into
+ENABLED (post-success) and the cruise.enabled rising edge (pre-success,
+covers blocked attempts):
+
+```python
+# In __init__:
+self.last_engaged_frame = -1
+self.last_engage_attempt_frame = -1
+
+# In update_events, BEFORE the lag/comm checks:
+if CS.cruiseState.enabled and not self.CS_prev.cruiseState.enabled:
+    self.last_engage_attempt_frame = self.sm.frame
+
+# At the engaged-state transition (state_transition):
+enabled_prev = self.enabled
+self.enabled = self.state in ENABLED_STATES
+if self.enabled and not enabled_prev:
+    self.last_engaged_frame = self.sm.frame
+
+# Gate logic in update_events:
+in_engage_grace = (
+    (self.last_engaged_frame >= 0
+     and (self.sm.frame - self.last_engaged_frame) < self.POST_ENGAGE_LAG_GRACE_FRAMES)
+    or
+    (self.last_engage_attempt_frame >= 0
+     and (self.sm.frame - self.last_engage_attempt_frame) < self.POST_ENGAGE_LAG_GRACE_FRAMES)
+)
+if not REPLAY and self.rk.lagging and not in_engage_grace:
+    self.events.add(EventName.controlsdLagging)
+# ... and similarly suppress commIssue when in_engage_grace
+```
+
+### 5. Fan range rules (port from broken tree)
+
+Independent of park-mode plumbing. Widen the fan PID range when the car
+is parked so the device can fully cool while the user can't hear road
+noise.
+
+`selfdrive/thermald/fan_controller.py`:
+```python
+def update(self, cur_temp, ignition, standstill=False, is_parked=True, cruise_engaged=False):
+    # neg_limit = -max_fan_pct, pos_limit = -min_fan_pct
+    if not ignition:
+        self.controller.neg_limit = -30
+        self.controller.pos_limit = 0
+    elif is_parked:
+        self.controller.neg_limit = -100
+        self.controller.pos_limit = 0       # 0-100% (full range)
+    elif cruise_engaged:
+        self.controller.neg_limit = -100
+        self.controller.pos_limit = -30     # 30-100%
+    elif standstill:
+        self.controller.neg_limit = -100
+        self.controller.pos_limit = -10     # 10-100%
+    else:
+        self.controller.neg_limit = -100
+        self.controller.pos_limit = -30     # 30-100%
+```
+
+`selfdrive/thermald/thermald.py`:
+```python
+# Add carState to the SubMaster service list
+sm = messaging.SubMaster([..., "carState"], poll="pandaStates")
+
+# At the fan_controller.update call site:
+if sm.seen['carState']:
+    cs = sm['carState']
+    standstill = cs.standstill
+    is_parked = cs.gearShifter == car.CarState.GearShifter.park
+else:
+    standstill = False
+    is_parked = True   # default safe: assume parked, no fan floor
+cruise_engaged = sm['controlsState'].enabled if sm.seen['controlsState'] else False
+msg.deviceState.fanSpeedPercentDesired = fan_controller.update(
+    all_comp_temp, onroad_conditions["ignition"], standstill,
+    is_parked=is_parked, cruise_engaged=cruise_engaged)
+```
+
+This piece worked fine standalone — it's safe to land on its own without
+the rest of the park-mode plumbing. (It does require the thermald
+carState subscription to actually receive carState — which is fine in
+normal operation.)
+
+## What broke
+
+### A. card.initialize() not called → silent CAN
+
+First attempt entered park-mode immediately whenever `gearShifter ==
+PARK`, including before controlsd had ever passed through its
+`if not self.initialized` branch. Symptoms:
+- UI stuck on splash even after shift to drive
+- carState never published to cereal (tested by subscribing externally)
+- presumably the steering ECU was getting no heartbeat, though we
+  hadn't yet tried to engage
+
+Fix: `_park_mode_allowed` gate, requires `self.initialized` AND a 10 s
+post-init buffer. **Critical.** Don't skip this in v2.
+
+### B. Park-grace cap (8 s) too short
+
+Cold-spawn chain length:
+1. modeld load thneed weights, init GPU (~3-5 s)
+2. modeld publishes modelV2
+3. plannerd consumes modelV2, publishes longitudinalPlan
+4. frogpilot_process consumes modelV2, publishes frogpilotPlan
+5. paramsd, torqued, calibrationd estimators accumulate enough samples
+   to set valid=True
+
+In testing this cumulatively exceeded 8 s. We bumped the cap to 15 s.
+**Even 15 s wasn't enough in some test runs** — got commIssue alerts
+with longitudinalPlan / frogpilotPlan still invalid past the cap.
+
+Possible fixes for v2:
+- Even longer cap (30 s)
+- Or condition-only with no cap (live with the risk that a genuinely
+  broken service strands controlsd in keepalive forever)
+- Or **a different approach**: don't actually pause modeld; throttle it
+  to 1 fps when stopped (this is what the broken tree's CLAUDE.md
+  pending-features list described as "modeld throttled to 1fps when
+  stopped"). Avoids the cold-spawn entirely.
+
+### C. NO_ENTRY alerts fire on engage attempt, not engage success
+
+`controlsdLagging` and `commIssue` both have `ET.NO_ENTRY`. NO_ENTRY
+alerts fire when the user *tries* to engage but the event blocks them.
+At that moment `self.enabled` hasn't flipped yet, so a grace keyed on
+`last_engaged_frame` is inert.
+
+Fix: also track `CS.cruiseState.enabled` rising edge as
+`last_engage_attempt_frame`. See "Engage-attempt grace" above.
+
+### D. Cascade of related alerts
+
+After all the above were patched, in-car testing still produced
+"locationd temporaryError" and "sensorDataInvalid" alerts after the
+post-engage grace window expired. We didn't have time to chase these
+down before reverting. Hypotheses:
+- locationd's kalman filter needs more than ~15 s to converge after
+  cold spawn, especially without GPS feeding it (we explicitly skip
+  GPS in locationd).
+- sensord might lose its IMU sample lock and need re-init when
+  killed/restarted.
+
+These are an argument for the "throttle, don't kill" approach in v2.
+
+### E. Sensor data invalid
+
+`sensorDataInvalid` likely stems from sensord being killed and
+restarted. The IMU init handshake takes time, and during that window
+`accelerometer` / `gyroscope` services are alive but their data hasn't
+stabilized — locationd reports invalid, controlsd alerts.
+
+Same fix family as (D).
+
+## Recommended approach for v2
+
+The "kill processes" approach is architecturally clean but creates a
+big cold-spawn cliff every time the user shifts to drive. The v2 plan
+should probably look more like:
+
+1. **Throttle, don't kill.** Send a "standby" memory param that modeld
+   reads and reduces its tick rate to 1 fps. dmonitoringmodeld likewise.
+   Plannerd/radard naturally adapt to slower modelV2 input. paramsd /
+   torqued / calibrationd / locationd keep accumulating slowly.
+2. **Keep controlsd's main loop running normally** — no park_mode_tick.
+   The state machine already handles "not engaged" → no actuators →
+   passive. The heartbeat flows naturally because `state_control` /
+   `publish_logs` run every cycle.
+3. **Apply the fan-range widening (Section 5 of "Design")** — that
+   piece is independently valuable and doesn't depend on the rest.
+4. **Skip dashcamd touchpoints.** dashcamd is already gear-aware via
+   its own state machine and pauses recording in park naturally.
+5. **Keep the `_park_mode_allowed` startup-delay gate concept** if any
+   form of conditional-shutdown is reintroduced — this guards against
+   `card.initialize()` being skipped.
+
+### Files involved (for reference)
+
+| File | Why |
+|---|---|
+| `common/params.cc` | register `ParkMode` (or `ModelStandby` etc.) |
+| `selfdrive/manager/manager.py` | `manager_init` memory-param defaults |
+| `selfdrive/manager/process_config.py` | gating helpers |
+| `selfdrive/controls/controlsd.py` | the park branch and engage-grace |
+| `selfdrive/thermald/fan_controller.py` | fan range rules |
+| `selfdrive/thermald/thermald.py` | carState sub for fan rules |
+| `selfdrive/modeld/modeld.py` (v2) | throttle on standby flag |
+| `selfdrive/modeld/dmonitoringmodeld.py` (v2) | throttle on standby flag |
+
+### Reference commits (force-pushed away from origin/clearpilot, but the
+text of this document captures the substance)
+
+- park-mode initial: bring up flag + gating + controlsd keepalive
+- park-mode startup gate: 10 s post-init delay before allowing park
+- engage-grace: 3 s suppression on engage edge for controlsdLagging
+- engage-attempt grace + grace cap bump to 15 s
+
+These were all on top of `stable_5_4_26` (`0d1cedd`).
@@ -851,8 +851,15 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
  // CLEARPILOT: nightrider mode — outline only, no fill
  bool outlineOnly = nightriderMode;

-  // CLEARPILOT: in nightrider mode, hide all lines when not engaged
-  if (outlineOnly && edgeColor == bg_colors[STATUS_DISENGAGED]) {
+  // CLEARPILOT: read here so the nightrider hide-when-disengaged check below
+  // can let lane-change frames through (controlsd forces edgeColor to
+  // STATUS_DISENGAGED while no_lat_lane_change is true).
+  bool is_no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");
+
+  // CLEARPILOT: in nightrider mode, hide all lines when not engaged — except
+  // during a lane change, where we still want lane lines + road edges drawn
+  // alongside the yellow lane-change outline.
+  if (outlineOnly && edgeColor == bg_colors[STATUS_DISENGAGED] && !is_no_lat_lane_change) {
    painter.restore();
    return;
  }
@@ -893,8 +900,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
  // paint center lane path
  // QColor bg_colors[CHANGE_LANE_PATH_COLOR];

-  // CLEARPILOT: read from paramsMemory; controlsd writes "no_lat_lane_change".
-  bool is_no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");
+  // is_no_lat_lane_change was read at the top of this function.

  QColor center_lane_color;
  
@@ -955,11 +961,17 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
    }

    if (outlineOnly) {
-      // CLEARPILOT: in nightrider, the tire path outline is light blue at 3px.
-      // Uses a fixed light-blue instead of center_lane_color (which is status-tinted) so
-      // the path reads as a neutral guide, not as engagement/status feedback.
-      QColor lightBlue(153, 204, 255, 220);  // #99CCFF light blue, mostly opaque
-      painter.setPen(QPen(lightBlue, 3));
+      // CLEARPILOT: in nightrider, the tire path is rendered as an outline.
+      // - Normal: light blue 3px (status-neutral guide)
+      // - Lane change: 4px outline of CHANGE_LANE_PATH_COLOR (the same yellow
+      //   used to fill the polygon in normal mode), so the nightrider lane
+      //   change reads as the same visual cue, just hollow.
+      if (is_no_lat_lane_change) {
+        painter.setPen(QPen(bg_colors[CHANGE_LANE_PATH_COLOR], 4));
+      } else {
+        QColor lightBlue(153, 204, 255, 220);  // #99CCFF light blue, mostly opaque
+        painter.setPen(QPen(lightBlue, 3));
+      }
      painter.setBrush(Qt::NoBrush);
    } else {
      painter.setPen(Qt::NoPen);