brianhansonxyz
ab9158bfb7
Discard the modelrevert tree adoption (8b4b7e0) and the in-process park short-circuits / cached-output / dashcam-idle work that came with it (0dc8002,37e095e). Restore the clearpilot tree as it stood atd639e28— the parked-controlsd manager-process split, the GPS-disable in locationd, the controlsd UI hooks, the boardd ignition-edge safety_setter_thread fix. After a full /data/params/d wipe and re-calibration drive, the modelrevert-tree variant overcorrected on turns; reverting to the parked-controlsd architecture (which Brian had previously vetted and documented in887b9c9+27cad05) and starting fresh. Single new commit, no merge — file state matchesd639e28byte-for-byte. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
55 lines
1.9 KiB
Python
55 lines
1.9 KiB
Python
#!/usr/bin/env python3
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"""
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CLEARPILOT: minimal controlsd variant that runs while ignition is on but the
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car is in Park. Keeps CAN parsing and carState publishing alive (so thermald
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can see gearShifter and decide when to swap us out for the full controlsd),
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but skips all of the heavy onroad work — no model, no planner, no lateral or
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longitudinal control, no actuator commands.
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Manager swaps between this and the full controlsd via predicate flips:
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- this runs when: ignition AND not started
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- full runs when: started (which requires ignition AND not_parked)
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The two are mutually exclusive — only one publishes carState at a time.
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"""
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from types import SimpleNamespace
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from openpilot.common.realtime import Priority, config_realtime_process
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from openpilot.selfdrive.car.card import CarD
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def _make_default_frogpilot_variables() -> SimpleNamespace:
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"""Safe defaults for fields read inside CarInterface.update / CarState.update.
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We're not actuating anything here; these only need to keep the update path
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from raising AttributeError. False/0 across the board is the safe baseline."""
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fv = SimpleNamespace()
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fv.conditional_experimental_mode = False
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fv.experimental_mode_via_distance = False
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fv.traffic_mode = False
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fv.sport_plus = False
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fv.long_pitch = False
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fv.no_lat_lane_change = False
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return fv
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def main():
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config_realtime_process(4, Priority.CTRL_HIGH)
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# CarD's __init__ blocks until it sees CAN + a pandaState, then calls get_car
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# to fingerprint and write CarParams. Same path the full controlsd takes.
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card = CarD()
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card.initialize()
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fv = _make_default_frogpilot_variables()
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# state_update drains CAN, parses carState, publishes carState/carOutput/carParams.
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# Internally blocks via drain_sock_raw(wait_for_one=True), so the loop is
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# naturally paced by CAN traffic — no extra sleep needed.
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while True:
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card.state_update(fv)
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if __name__ == "__main__":
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main()
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