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Fix manager toggle startup

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firestar5683
2026-08-03 14:07:36 -05:00
parent 9b7f1222e8
commit 5fad2a9154
1 changed files with 12 additions and 10 deletions
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starpilot/common/starpilot_variables.py
+12 -10
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@@ -336,7 +336,7 @@ def default_ev_tuning_enabled(CP):
ev_vehicle |= getattr(CP, "transmissionType", None) == car.CarParams.TransmissionType.direct
return bool(ev_vehicle)
def get_starpilot_toggles(sm=messaging.SubMaster(["starpilotPlan"])):
def get_starpilot_toggles(sm=messaging.SubMaster(["starpilotPlan"]), *, read_persisted_force_params=False):
toggles_text = sm["starpilotPlan"].starpilotToggles
if toggles_text:
get_starpilot_toggles._last_toggles_text = toggles_text
@@ -345,16 +345,18 @@ def get_starpilot_toggles(sm=messaging.SubMaster(["starpilotPlan"])):
toggles = process_starpilot_toggles(toggles_text)
# Force drive-state controls must be authoritative from params so they
# apply immediately even if starpilotPlan publication is temporarily stale.
if not hasattr(get_starpilot_toggles, "_params"):
get_starpilot_toggles._params = Params(return_defaults=True)
# Realtime callers consume these values from the serialized toggle broadcast.
# Only startup/state-management callers should synchronously read the backing
# files; doing so from every 100 Hz control loop can stall critical processes.
if read_persisted_force_params:
if not hasattr(get_starpilot_toggles, "_params"):
get_starpilot_toggles._params = Params(return_defaults=True)
toggles.force_offroad = get_starpilot_toggles._params.get_bool("ForceOffroad")
toggles.force_onroad = get_starpilot_toggles._params.get_bool("ForceOnroad")
# Controller selection happens before the first live StarPilot broadcast. Do
# not let a cached CarParams/controller type hide the persisted user request.
toggles.force_torque_controller = get_starpilot_toggles._params.get_bool("ForceTorqueController")
toggles.force_offroad = get_starpilot_toggles._params.get_bool("ForceOffroad")
toggles.force_onroad = get_starpilot_toggles._params.get_bool("ForceOnroad")
# Controller selection happens before the first live StarPilot broadcast. Do
# not let a cached CarParams/controller type hide the persisted user request.
toggles.force_torque_controller = get_starpilot_toggles._params.get_bool("ForceTorqueController")
return toggles
@cache