toyboy galaxy

starpilot/common/starpilot_variables.py

@@ -418,14 +418,26 @@ class StarPilotVariables:
     except (TypeError, ValueError):
       return
 
+    # Angle-control placeholder torque params can be NaN; never persist them.
+    if not math.isfinite(live_value):
+      if not math.isfinite(self.params.get_float(stock_key)):
+        self.params.remove(stock_key)
+      if not math.isfinite(self.params.get_float(key)):
+        self.params.remove(key)
+      return
+
     if math.isclose(live_value, 0.0, abs_tol=1e-6):
       return
 
     current_stock = self.params.get_float(stock_key)
+    if not math.isfinite(current_stock):
+      current_stock = 0.0
     if math.isclose(current_stock, live_value, abs_tol=1e-6):
       return
 
     current_value = self.params.get_float(key)
+    if not math.isfinite(current_value):
+      current_value = 0.0
     if math.isclose(current_value, current_stock, abs_tol=1e-6) or math.isclose(current_stock, 0.0, abs_tol=1e-6):
       self.params.put_float(key, live_value)
 
@@ -462,6 +474,8 @@ class StarPilotVariables:
     toggle.car_model = CP.carFingerprint
     toggle.disable_openpilot_long = self.get_value("DisableOpenpilotLongitudinal", condition=not alpha_longitudinal)
     friction = CP.lateralTuning.torque.friction
+    if not math.isfinite(friction):
+      friction = 0.0
     has_bsm = CP.enableBsm
     toggle.has_cc_long = toggle.car_make == "gm" and bool(CP.flags & GMFlags.CC_LONG.value)
     toggle.has_sascm = toggle.car_make == "gm" and bool(CP.flags & GMFlags.SASCM.value)
@@ -473,6 +487,8 @@ class StarPilotVariables:
     toggle.has_zss = toggle.car_make == "toyota" and bool(FPCP.flags & ToyotaStarPilotFlags.ZSS.value)
     is_angle_car = CP.steerControlType == car.CarParams.SteerControlType.angle
     latAccelFactor = CP.lateralTuning.torque.latAccelFactor
+    if not math.isfinite(latAccelFactor):
+      latAccelFactor = 0.0
     toggle.lkas_allowed_for_aol = toggle.car_make == "hyundai" and bool(CP.flags & HyundaiFlags.CANFD or CP.flags & HyundaiFlags.HAS_LDA_BUTTON)
     longitudinalActuatorDelay = CP.longitudinalActuatorDelay
     toggle.openpilot_longitudinal = CP.openpilotLongitudinalControl and not toggle.disable_openpilot_long

starpilot/system/the_pond/the_pond.py

@@ -3,6 +3,8 @@ from concurrent.futures import ThreadPoolExecutor, as_completed
 from datetime import datetime, timedelta, timezone
 
 import importlib
+import math
+import numbers
 import os
 import sys
 import tarfile
@@ -379,6 +381,32 @@ def _normalize_default_value(value):
       return value
   return value
 
+def _sanitize_json_value(value):
+  if value is None or isinstance(value, bool):
+    return value
+
+  if isinstance(value, dict):
+    return {key: _sanitize_json_value(inner_value) for key, inner_value in value.items()}
+
+  if isinstance(value, (list, tuple)):
+    return [_sanitize_json_value(item) for item in value]
+
+  if isinstance(value, bytes):
+    try:
+      return value.decode("utf-8")
+    except Exception:
+      return value.decode("utf-8", errors="replace")
+
+  if isinstance(value, numbers.Integral):
+    return int(value)
+
+  # Flask emits invalid JSON for NaN/inf, so normalize them before jsonify.
+  if isinstance(value, numbers.Real):
+    numeric_value = float(value)
+    return numeric_value if math.isfinite(numeric_value) else None
+
+  return value
+
 def _build_default_params():
   defaults = []
   for raw_key in _params_raw.all_keys():
@@ -1791,13 +1819,15 @@ def _has_runtime_default_value(key, raw_value):
   if _is_blank_param_raw(raw_value):
     return False
 
-  if key in _RUNTIME_DEFAULT_ZERO_OK_KEYS:
-    return True
-
   try:
     if isinstance(raw_value, bytes):
       raw_value = raw_value.decode("utf-8", errors="replace")
-    return float(str(raw_value).strip()) != 0.0
+    numeric_value = float(str(raw_value).strip())
+    if not math.isfinite(numeric_value):
+      return False
+    if key in _RUNTIME_DEFAULT_ZERO_OK_KEYS:
+      return True
+    return numeric_value != 0.0
   except Exception:
     return True
 
@@ -1831,7 +1861,10 @@ def _get_runtime_default_param_overrides():
         for key, value in car_param_defaults.items():
           if key in overrides or value is None:
             continue
-          if key not in _RUNTIME_DEFAULT_ZERO_OK_KEYS and float(value) == 0.0:
+          numeric_value = float(value)
+          if not math.isfinite(numeric_value):
+            continue
+          if key not in _RUNTIME_DEFAULT_ZERO_OK_KEYS and numeric_value == 0.0:
             continue
           overrides[key] = value
     except Exception:
@@ -2354,9 +2387,9 @@ def _build_troubleshoot_section_payload(section_definition, value_types, default
     items.append({
       "key": key,
       "label": label,
-      "value": current_value,
-      "defaultValue": default_value,
-      "learnedValue": learned_values.get(key),
+      "value": _sanitize_json_value(current_value),
+      "defaultValue": _sanitize_json_value(default_value),
+      "learnedValue": _sanitize_json_value(learned_values.get(key)),
     })
 
   return {
@@ -2407,12 +2440,12 @@ def _build_troubleshoot_payload():
     for section_definition in _TROUBLESHOOT_SECTION_DEFINITIONS
   ]
 
-  return {
+  return _sanitize_json_value({
     "vehicleStatus": _build_vehicle_fault_status(),
     "snapshot": snapshot_items,
     "sections": sections,
     "isOnroad": params.get_bool("IsOnroad"),
-  }
+  })
 
 def _reset_troubleshoot_section(section_id):
   section_definition = _TROUBLESHOOT_SECTION_BY_ID.get(str(section_id or "").strip())
@@ -3332,7 +3365,7 @@ def setup(app):
       except Exception:
         result[key] = None
 
-    return jsonify(result), 200
+    return jsonify(_sanitize_json_value(result)), 200
 
   @app.route("/api/params/defaults", methods=["GET"])
   def get_default_params():
@@ -3363,7 +3396,7 @@ def setup(app):
       except Exception:
         result[key] = None
 
-    return jsonify(result), 200
+    return jsonify(_sanitize_json_value(result)), 200
 
   @app.route("/api/troubleshoot", methods=["GET"])
   def get_troubleshoot_data():