brianhansonxyz
887b9c9e12
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>
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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