brianhansonxyz
27cad05cd9
Briefing for the on-device agent covering commits47321e3,f7e602c, and887b9c9: what was reverted vs kept, the UI re-wire, the parked controlsd swap mechanism, build prerequisites, runtime verification commands, and a troubleshooting playbook. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
356 lines
16 KiB
Markdown
356 lines
16 KiB
Markdown
# Session: 2026-04-26 — Baseline Revert + Parked-Controlsd Mode
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## Context
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This session was driven by a regression: the steering wheel "feels like
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it pulls right" during normal driving, with no clear smoking gun. The
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suspicion was that one of the variable-FPS / standstill-throttling
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changes (added to reduce parked-state fan noise and CPU load) bled into
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on-road driving behavior in a hard-to-isolate way.
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Strategy: revert all driving-relevant logic to a known-good baseline
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captured in `/projects/openpilot/archive/clearpilot` (HEAD `980f0aa`,
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July 2024), keep all of the ClearPilot UI/dashcam/telemetry/bench-mode
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infrastructure intact on top, then attack the parked-fan-noise problem
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fresh from a different angle that doesn't touch driving logic at all.
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Three commits landed in this order on branch `clearpilot`:
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| SHA | Title |
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| `47321e3` | restore driving logic to pre-variable-fps baseline |
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| `f7e602c` | controlsd: re-wire UI hooks on top of restored baseline |
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| `887b9c9` | parked-controlsd mode: shut down heavy stack while ignition+park |
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Pre-revert tip was `62a403d`. The on-device agent should treat
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**`62a403d` as "the broken version"** when looking at history.
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---
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## Commit 1: `47321e3` — Baseline restore
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Reverted the following files wholesale to their `980f0aa` archive copy:
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- `selfdrive/controls/controlsd.py`
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- `selfdrive/controls/lib/events.py`
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- `selfdrive/controls/lib/longitudinal_planner.py`
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- `selfdrive/modeld/modeld.py`
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- `selfdrive/modeld/dmonitoringmodeld.py`
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- `selfdrive/locationd/calibrationd.py`
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- `selfdrive/locationd/paramsd.py`
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- `selfdrive/locationd/torqued.py`
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- `selfdrive/car/interfaces.py`
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- `selfdrive/car/hyundai/carstate.py` (CAN-FD telemetry preserved as a
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commented block at the bottom of `update_canfd` — re-enable by
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uncommenting; the `tlog` import is also commented out).
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- `selfdrive/monitoring/dmonitoringd.py`
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- `selfdrive/frogpilot/controls/frogpilot_planner.py`
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- `common/realtime.py`
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### Intentionally NOT restored (kept as the post-`62a403d` version)
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- `selfdrive/thermald/*` — fan/power tuning kept as-is.
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- `selfdrive/car/hyundai/carcontroller.py` and `hyundaicanfd.py` —
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reviewed; the only delta vs baseline is hoisting the
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`no_lat_lane_change` Params read out of the 100Hz hot path
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(~5% carcontroller CPU) by passing the bit as an argument. This is
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a perf-only change with no behavioral effect outside lane changes.
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- `cereal/services.py`, `cereal/custom.capnp` — additive only.
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`custom.capnp` adds `latRequested @3` and `noLatLaneChange @4` fields
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to `FrogPilotCarControl`; capnp tag numbers are append-only so this is
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safe to leave in even though baseline code doesn't write to them.
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- `selfdrive/manager/*`, `common/params.cc` — heavy ClearPilot
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infrastructure (bench mode, log dir, dashcamd, gpsd, ClearPilot params).
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- All `selfdrive/ui/`, `selfdrive/clearpilot/`, `system/clearpilot/`.
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### Things removed by the restore (no longer in the tree)
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- Standstill frame skipping in modeld (was: skip GPU inference 19/20
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frames at standstill, report 0 dropped frames to fool controlsd).
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- Standstill frame skipping in dmonitoringmodeld.
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- Model standby logic + `ModelStandby`/`ModelStandbyTs` reads in
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controlsd's comm-issue suppression path.
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- Parked-cycle skip in `state_control()` (10Hz vs 100Hz when in Park).
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- Calibrationd validity decoupling from `sm.all_checks()`.
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- Post-engage 2s commIssue/location/params suppression window.
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- Per-cycle carstate write-gating for `CarSpeedLimit`/`CarIsMetric` in
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carstate.py.
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- The diff-based carstate telemetry calls (preserved commented out).
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These were the candidates for the steering-pull regression. The on-device
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agent should **not re-introduce any of these** without a deliberate plan
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and a test session. The user's intent is to get baseline driving feel
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confirmed first, then re-introduce optimizations one at a time and drive
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each.
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---
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## Commit 2: `f7e602c` — UI hooks on top of baseline
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Baseline `controlsd.py` doesn't have the UI plumbing the ClearPilot UI
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expects. This commit re-adds only the things needed for the existing UI
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to keep working — pure params-write plumbing, no actuator effect.
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### Changes (all in `selfdrive/controls/controlsd.py`)
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1. **Import `SpeedState`** from `openpilot.selfdrive.clearpilot.speed_logic`.
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2. **`Controls.__init__`**:
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- `params_memory.put_bool("ScreenDisplayMode", 0)` →
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`params_memory.put_int("ScreenDisplayMode", 0)` (UI reads it as int).
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- Added `self.speed_state = SpeedState()`, `self.speed_state_frame = 0`,
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`self.was_driving_gear = False`.
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3. **SubMaster** — added `gpsLocation` to the subscriber list, with
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`ignore_alive` / `ignore_avg_freq` / `ignore_valid` so missing GPS
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doesn't trigger commIssue.
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4. **`clearpilot_state_control(...)`** rewritten from a simple 3-state
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cycle into the documented 5-state ScreenDisplayMode machine:
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- Auto-wake on park→drive edge if currently in screen-off (state 3).
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- LFA button transitions in drive: `0→4, 1→2, 2→3, 3→4, 4→2`.
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- LFA button transitions outside drive: any except 3 → 3, state 3 → 0.
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- Speed/cruise-warning overlay tick at ~2Hz (`speed_state.update(...)`)
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reading `gpsLocation`, `CarSpeedLimit` param, `self.is_metric`,
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`CS.cruiseState`. This is what writes
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`ClearpilotSpeedDisplay`/`ClearpilotSpeedLimitDisplay`/
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`ClearpilotCruiseWarning` for the UI overlay.
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5. **Lane-change suppression sync** — at the existing baseline
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`clearpilot_disable_lat_on_lane_change` block (around line 687), in
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addition to the existing `params_memory.put_bool("no_lat_lane_change", ...)`,
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also set `self.frogpilot_variables.no_lat_lane_change = True/False`.
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This is required because the kept (post-`62a403d`) carcontroller
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reads off `frogpilot_variables`, not Params.
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### What does NOT change
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No edits to lateral or longitudinal control paths. No new actuator-side
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behavior. The UI features (nightrider/screen-off/auto day-night, speed
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overlay, cruise warning chime) get wired back up purely through param
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writes.
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---
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## Commit 3: `887b9c9` — Parked-controlsd mode
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Architectural fix for the original problem this whole session was
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chasing: while ignition is on but the car is in Park, the entire onroad
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stack (modeld, planner, control, locationd, calibrationd, paramsd,
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torqued, dmonitoring*, soundd, loggerd) is running and burning CPU/fan
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even though none of it is needed.
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Solution: redefine "onroad" as **ignition AND not parked** instead of
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just **ignition**. Reuse the existing `started`-based process gating in
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manager. Add a tiny second controlsd variant that runs while parked,
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just to keep CAN flowing so thermald can see when gear leaves Park.
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### Files
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#### NEW: `selfdrive/controls/controlsd_parked.py`
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Minimal entry point. Roughly:
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```python
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def main():
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config_realtime_process(4, Priority.CTRL_HIGH)
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card = CarD() # blocks until first CAN, fingerprints car
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card.initialize()
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fv = _make_default_frogpilot_variables() # safe False/0 SimpleNamespace
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while True:
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card.state_update(fv) # publishes carState/carOutput/carParams
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```
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`CarD.state_update` blocks via `drain_sock_raw(wait_for_one=True)`, so
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the loop is paced by CAN traffic — no extra sleep, no CPU spin.
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The default `frogpilot_variables` sets these to safe values so
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`CarInterfaceBase.update` doesn't `AttributeError`:
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`conditional_experimental_mode`, `experimental_mode_via_distance`,
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`traffic_mode`, `sport_plus`, `long_pitch`, `no_lat_lane_change` — all
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False.
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#### `selfdrive/thermald/thermald.py`
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- `onroad_conditions` now also has `"not_parked"`. Initialized to
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`False` (assume parked at boot) so the heavy stack waits for carState
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to confirm gear has left Park before spinning up.
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- New module-level loop variables: `is_parked = True`,
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`parked_since: float | None = None`, `PARKED_HYSTERESIS_S = 1.5`,
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`ignition_param_prev: bool | None = None`.
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- New block right after the panda-disconnect check (around line 258 in
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current state) reads `sm['carState'].gearShifter`:
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- Gear == Park: latch `parked_since`, flip `is_parked = True` after
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1.5s of continuous Park (hysteresis).
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- Gear != Park: clear `parked_since`, `is_parked = False` immediately
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(no hysteresis going out).
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- Reverse is treated as **not parked** — driver is moving.
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- `onroad_conditions["not_parked"] = not is_parked` every tick.
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- New `IgnitionOn` Params write, edge-driven (only on change of
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`onroad_conditions["ignition"]`) so we don't hammer the persistent
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filesystem 2x/sec.
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#### `selfdrive/manager/process_config.py`
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- New predicate:
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```python
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def parked_only(started, params, CP):
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return params.get_bool("IgnitionOn") and not started
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```
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- New process entry directly after the existing `controlsd` entry:
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```python
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PythonProcess("controlsd_parked", "selfdrive.controls.controlsd_parked", parked_only),
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```
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- `controlsd` is unchanged (still `only_onroad`). Mutually exclusive
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with `parked_only` because `started` is the negation of the relevant
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condition.
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#### `selfdrive/manager/manager.py`
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- Single line in `manager_init()` seeding `IgnitionOn=False` so the
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predicate evaluates correctly before thermald's first tick.
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#### `common/params.cc`
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- New entry in the alphabetical I-block:
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```cpp
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{"IgnitionOn", CLEAR_ON_MANAGER_START},
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```
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- Manager predicates can only see persistent Params (not pandaStates
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or `/dev/shm/params`), which is why thermald has to expose ignition
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this way.
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### State machine summary
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| Ignition | Gear | Predicates true | What runs |
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|----------|-------------|-----------------------------|-------------------------------|
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| off | any | none | always_run only (ui, thermald, pandad, deleter, …) |
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| on | Park (>1.5s)| parked_only | always_run + controlsd_parked |
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| on | not Park | only_onroad (=> all `started`) | full onroad stack |
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The transition between rows 2 and 3 is purely manager process
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swapping driven by predicate flips — no IPC handshake, no
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self-termination. Thermald sees gear change, flips `not_parked`,
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`should_start = all(onroad_conditions.values())` flips, manager kills
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the wrong variant and spawns the right one on its next tick.
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---
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## What the on-device agent needs to know / debug
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### Build prerequisites
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A new param key was added (`IgnitionOn`), so the C++ params whitelist
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needs a fresh build. Per `CLAUDE.md` "Adding New Params":
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```bash
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chown -R comma:comma /data/openpilot
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rm -f /data/openpilot/prebuilt /data/openpilot/common/params.o /data/openpilot/common/libcommon.a
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su - comma -c "bash /data/openpilot/build_only.sh"
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```
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`build_only.sh` already deletes `prebuilt` but **does not** delete
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`params.o` / `libcommon.a` — verify those are gone before building or
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the new key won't be picked up and `Params().put_bool("IgnitionOn", …)`
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will throw `UnknownKeyName` in manager_init or thermald.
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### How to verify the swap is working
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```bash
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# 1. Watch which controlsd variant is running
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watch -n 1 'ps -ef | grep -E "controlsd(_parked)?" | grep -v grep'
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# 2. Watch the gating signals
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watch -n 1 'echo "IgnitionOn:"; cat /data/params/d/IgnitionOn 2>/dev/null; \
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echo; echo "deviceState.started:" ; \
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python3 -c "import cereal.messaging as m; \
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s=m.sub_sock(\"deviceState\", timeout=1000); \
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print(m.recv_one(s).deviceState.started)"'
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# 3. Watch gear via carState
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python3 -c "
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import cereal.messaging as m
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s = m.sub_sock('carState', timeout=2000)
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while True:
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msg = m.recv_one(s)
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if msg: print(msg.carState.gearShifter)
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"
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```
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Expected behavior:
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- Ignition off: neither variant in `ps`. `IgnitionOn` is `0`/missing.
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- Ignition on, in Park: `controlsd_parked` in `ps`, `controlsd` is not.
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`started` is False. After ~1.5s of confirmed Park, modeld and friends
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should have stopped.
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- Shift to Drive: `controlsd_parked` disappears within ~500ms, full
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`controlsd` appears, all the onroad processes spin up. There will be
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a brief carState gap during the swap (~0.5–2s).
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### What to suspect first if something breaks
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1. **Manager crash on startup** with `UnknownKeyName: IgnitionOn`. Means
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`params.o`/`libcommon.a` weren't rebuilt. Delete them and rebuild.
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2. **`controlsd_parked` keeps respawning / dying.** Check
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`/data/log2/current/controlsd_parked.log`. Most likely either:
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- `CarD.__init__` is hanging on `get_one_can` because pandad isn't
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up yet — should only matter on the very first boot.
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- A `frogpilot_variables` attribute we missed defaulting; add it to
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`_make_default_frogpilot_variables` in `controlsd_parked.py`.
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3. **Full controlsd never spawns after shift to Drive.** Check
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`IgnitionOn` (should be `1`), check carState.gearShifter (should not
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be `park`/`unknown`), check thermald.log for `should_start` logic.
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Also check that `carState` is actually being published by
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`controlsd_parked`.
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4. **Steering still pulls right.** The whole point of commit 1 is to
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rule out the variable-FPS work as the cause. If the symptom persists
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on baseline-restored driving logic, the suspect list shifts to:
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- Anything still on the kept side (carcontroller's
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`no_lat_lane_change` plumbing, thermald-related changes,
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custom.capnp additions).
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- Hardware: a calibration that drifted, an alignment issue, panda
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CAN bus issue, or torque tuning that was modified outside of these
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files.
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- The custom driving model selected (`Params("Model")`). Confirm
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which `.thneed`/`.onnx` is loaded — none of the model files
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themselves were changed in this session.
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5. **Panda safety alerts during park transition.** If panda logs a
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"lost heartbeat" or drops to NOOUTPUT mode in the swap window, we
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need controlsd_parked to issue a no-op carcontrol heartbeat to keep
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panda happy. Not implemented in this session — flag for follow-up.
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### Open follow-up items (NOT done in this session)
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- **Cold-start latency on shift-from-Park.** Modeld load + calibration
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warmup may produce a noticeable gap before lateral/long are ready.
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Anticipatory wake on `CS.brakePressed && in_park` is the planned
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mitigation if needed.
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- **Methodically reintroduce optimizations.** Once baseline driving
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feels right, the standstill optimizations (modeld 1fps, fan clamps,
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etc.) can come back one at a time, each with a drive test.
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- **The CAN-FD telemetry block in `selfdrive/car/hyundai/carstate.py`**
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is preserved as a commented block at the bottom of `update_canfd()`.
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Re-enabling requires uncommenting + restoring the `tlog` import at
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the top of the file.
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---
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## Key file index for fast navigation
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```
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selfdrive/controls/controlsd.py # full controlsd, restored to baseline + UI hooks re-added
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selfdrive/controls/controlsd_parked.py # NEW: parked-only CAN listener
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selfdrive/controls/clearpilot_state_control # in controlsd.py, ~line 1255 — 5-state ScreenDisplayMode + speed_state tick
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selfdrive/thermald/thermald.py # gear-aware not_parked + IgnitionOn writer (~line 258)
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selfdrive/manager/process_config.py # parked_only predicate + new entry
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selfdrive/manager/manager.py # IgnitionOn seed in manager_init
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common/params.cc # IgnitionOn registered (CLEAR_ON_MANAGER_START)
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selfdrive/car/card.py # CarD class — used by both controlsd variants, unchanged
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selfdrive/clearpilot/speed_logic.py # SpeedState class — unchanged, called from controlsd.clearpilot_state_control
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selfdrive/car/hyundai/carstate.py # restored baseline + commented telemetry block at end of update_canfd
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```
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## Reproducing the diff per commit
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```bash
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git show 47321e3 # baseline restore
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git show f7e602c # UI hooks
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git show 887b9c9 # parked mode
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git diff 62a403d..887b9c9 # full session delta
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```
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