Manager: cover forced road-state transitions

Co-authored-by: pharmacomaniac <blittle65@gmail.com>

starpilot/system/the_galaxy/tests/test_navigation_params.py

@@ -753,6 +753,22 @@ def test_force_offroad_toggle_rejects_when_not_parked(monkeypatch):
   assert fake_params.writes == []
 
 
+def test_force_offroad_can_be_disabled_without_live_park(monkeypatch):
+  client, fake_params = _params_client(monkeypatch, {
+    "ForceOffroad": True,
+    "ForceOnroad": False,
+    "IsOnroad": False,
+  }, "tici")
+  monkeypatch.setattr(the_galaxy, "_get_vehicle_parked", lambda: False)
+
+  response = client.put("/api/params", json={"key": "ForceOffroad", "value": False})
+
+  assert response.status_code == 200
+  assert response.get_json()["updated"] == {"ForceOffroad": False, "ForceOnroad": False}
+  assert fake_params.values["ForceOffroad"] is False
+  assert fake_params.values["ForceOnroad"] is False
+
+
 def test_curve_speed_controller_reset_clears_learned_data_offroad(monkeypatch):
   client, fake_params = _params_client(monkeypatch, {
     "IsOnroad": False,

system/manager/manager.py

@@ -1115,6 +1115,16 @@ def manager_cleanup() -> None:
   cloudlog.info("everything is dead")
 
 
+def reset_onroad_transition_params(params, params_memory, force_onroad: bool) -> None:
+  """Clear stale card-readiness state before a forced onroad restart."""
+  if force_onroad:
+    params.remove("ControlsReady")
+    params.remove("FirmwareQueryDone")
+  else:
+    params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
+    params_memory.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
+
+
 def manager_thread() -> None:
   manager_thread_start = time.monotonic()
   last_timing = _log_boot_timing("manager_thread", "start", manager_thread_start, manager_thread_start)
@@ -1164,17 +1174,7 @@ def manager_thread() -> None:
     started = sm['deviceState'].started
 
     if started and not started_prev:
-      # ForceOnroad skips the normal onroad parameter reset.
-      if starpilot_toggles.force_onroad:
-        # These flags stay set after card exits.
-        # Clear them so pandad doesn't think card finished init on restart.
-        params.remove("ControlsReady")
-        params.remove("FirmwareQueryDone")
-      else:
-        params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
-
-        # StarPilot variables
-        params_memory.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
+      reset_onroad_transition_params(params, params_memory, starpilot_toggles.force_onroad)
     elif not started and started_prev:
       params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
 

system/manager/test/test_manager.py

@@ -74,6 +74,42 @@ class FileBackedFakeParams:
     Path(self.get_param_path(key)).unlink(missing_ok=True)
 
 
+class TransitionParams:
+  def __init__(self):
+    self.removals = []
+    self.clears = []
+
+  def remove(self, key):
+    self.removals.append(key)
+
+  def clear_all(self, flags):
+    self.clears.append(flags)
+
+
+def test_force_onroad_resets_card_readiness_flags():
+  params = TransitionParams()
+  params_memory = TransitionParams()
+
+  manager.reset_onroad_transition_params(params, params_memory, force_onroad=True)
+
+  assert params.removals == ["ControlsReady", "FirmwareQueryDone"]
+  assert params.clears == []
+  assert params_memory.removals == []
+  assert params_memory.clears == []
+
+
+def test_normal_onroad_transition_clears_transition_flags():
+  params = TransitionParams()
+  params_memory = TransitionParams()
+
+  manager.reset_onroad_transition_params(params, params_memory, force_onroad=False)
+
+  assert params.removals == []
+  assert params.clears == [manager.ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION]
+  assert params_memory.removals == []
+  assert params_memory.clears == [manager.ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION]
+
+
 def test_navigation_selected_while_already_offroad_is_not_tracked_for_cleanup(tmp_path):
   params = FileBackedFakeParams(tmp_path / "params", {
     "ClearNavOnOffroad": True,