fixes

starpilot/common/tests/test_starpilot_process.py

@@ -0,0 +1,82 @@
+import json
+from types import SimpleNamespace
+
+from openpilot.starpilot import starpilot_process
+
+
+class FakeParams:
+  def __init__(self):
+    self.writes = []
+
+  def put(self, key, value):
+    self.writes.append((key, value))
+
+
+class FakeThreadManager:
+  def run_with_lock(self, *args, **kwargs):
+    return None
+
+
+class FakeThemeManager:
+  def update_active_theme(self, *args, **kwargs):
+    return None
+
+
+class FakeModelManager:
+  def randomize_selected_model(self):
+    return None
+
+
+def test_transition_offroad_skips_invalid_gps_persist():
+  params = FakeParams()
+  planner = SimpleNamespace(gps_position={
+    "latitude": 0.0,
+    "longitude": 0.0,
+    "bearing": 0.0,
+    "speed": 0.0,
+    "hasFix": False,
+    "updatedAtMonotonic": 1.0,
+    "updatedAtSec": 1.0,
+  })
+  toggles = SimpleNamespace(lock_doors_timer=0, random_themes=False)
+
+  starpilot_process.transition_offroad(
+    planner,
+    FakeModelManager(),
+    FakeThemeManager(),
+    FakeThreadManager(),
+    False,
+    None,
+    params,
+    toggles,
+  )
+
+  assert params.writes == []
+
+
+def test_transition_offroad_persists_valid_gps():
+  params = FakeParams()
+  gps_position = {
+    "latitude": 41.0,
+    "longitude": -87.0,
+    "bearing": 90.0,
+    "speed": 12.0,
+    "hasFix": True,
+    "updatedAtMonotonic": 1.0,
+    "updatedAtSec": 2.0,
+  }
+  planner = SimpleNamespace(gps_position=gps_position)
+  toggles = SimpleNamespace(lock_doors_timer=0, random_themes=False)
+
+  starpilot_process.transition_offroad(
+    planner,
+    FakeModelManager(),
+    FakeThemeManager(),
+    FakeThreadManager(),
+    False,
+    None,
+    params,
+    toggles,
+  )
+
+  assert params.writes == [("LastGPSPosition", json.dumps(gps_position))]

starpilot/starpilot_process.py

@@ -144,7 +144,8 @@ def sync_drive_stats(params, session):
     print(f"Failed to sync drive stats: {exception}")
 
 def transition_offroad(starpilot_planner, model_manager, theme_manager, thread_manager, time_validated, sm, params, starpilot_toggles):
-  params.put("LastGPSPosition", json.dumps(starpilot_planner.gps_position))
+  if gps_position_valid(starpilot_planner.gps_position):
+    params.put("LastGPSPosition", json.dumps(starpilot_planner.gps_position))
 
   if starpilot_toggles.lock_doors_timer != 0:
     thread_manager.run_with_lock(lock_doors, (starpilot_toggles.lock_doors_timer, sm, params), report=False)

starpilot/system/the_pond/tests/test_navigation_params.py

@@ -0,0 +1,76 @@
+import json
+
+from openpilot.common.params import ParamKeyType
+from openpilot.starpilot.system.the_pond import the_pond
+
+
+class FakeParamsBackend:
+  def __init__(self, key_types=None, default_values=None, values=None):
+    self.key_types = key_types or {}
+    self.default_values = default_values or {}
+    self.values = values or {}
+    self.writes = []
+
+  def get_key_type(self, key):
+    return self.key_types[key]
+
+  def get_default_value(self, key):
+    return self.default_values.get(key)
+
+  def put(self, key, value):
+    self.writes.append((key, value))
+    self.values[key] = value
+
+  def get(self, key, block=False):
+    return self.values.get(key)
+
+
+def test_params_compat_accepts_json_strings_for_json_keys():
+  backend = FakeParamsBackend(
+    key_types={"FavoriteDestinations": ParamKeyType.JSON},
+    default_values={"FavoriteDestinations": []},
+  )
+  compat = the_pond.ParamsCompat(backend)
+
+  compat.put("FavoriteDestinations", json.dumps([{"name": "Home"}]))
+
+  assert backend.writes == [("FavoriteDestinations", [{"name": "Home"}])]
+
+
+def test_navigation_last_position_uses_recent_persisted_fix(monkeypatch):
+  recent_payload = json.dumps({
+    "latitude": 41.0,
+    "longitude": -87.0,
+    "hasFix": True,
+    "updatedAtSec": 10_000.0,
+  })
+  memory_backend = FakeParamsBackend(values={"LastGPSPosition": ""})
+  persisted_backend = FakeParamsBackend(values={"LastGPSPosition": recent_payload})
+
+  monkeypatch.setattr(the_pond, "params_memory", the_pond.ParamsCompat(memory_backend))
+  monkeypatch.setattr(the_pond, "params", the_pond.ParamsCompat(persisted_backend))
+  monkeypatch.setattr(the_pond.time, "time", lambda: 10_300.0)
+  monkeypatch.setattr(the_pond, "system_time_valid", lambda: True)
+
+  position = the_pond._get_navigation_last_position()
+
+  assert position["latitude"] == 41.0
+  assert position["longitude"] == -87.0
+
+
+def test_navigation_last_position_rejects_stale_persisted_fix(monkeypatch):
+  stale_payload = json.dumps({
+    "latitude": 41.0,
+    "longitude": -87.0,
+    "hasFix": True,
+    "updatedAtSec": 10_000.0,
+  })
+  memory_backend = FakeParamsBackend(values={"LastGPSPosition": ""})
+  persisted_backend = FakeParamsBackend(values={"LastGPSPosition": stale_payload})
+
+  monkeypatch.setattr(the_pond, "params_memory", the_pond.ParamsCompat(memory_backend))
+  monkeypatch.setattr(the_pond, "params", the_pond.ParamsCompat(persisted_backend))
+  monkeypatch.setattr(the_pond.time, "time", lambda: 10_000.0 + the_pond.NAVIGATION_PERSISTED_LOCATION_MAX_AGE_SECONDS + 1.0)
+  monkeypatch.setattr(the_pond, "system_time_valid", lambda: True)
+
+  assert the_pond._get_navigation_last_position() is None

starpilot/system/the_pond/the_pond.py

@@ -313,6 +313,20 @@ class ParamsCompat:
         typed_value = ""
       else:
         typed_value = str(value)
+    elif expected_type == ParamKeyType.JSON:
+      if isinstance(value, bytes):
+        value = value.decode("utf-8", errors="replace")
+
+      if isinstance(value, str):
+        stripped = value.strip()
+        if not stripped:
+          typed_value = self._params.get_default_value(key)
+        else:
+          typed_value = json.loads(stripped)
+      elif isinstance(value, tuple):
+        typed_value = list(value)
+      else:
+        typed_value = value
 
     self._params.put(key, typed_value)
 
@@ -466,7 +480,8 @@ KEYS = {
 }
 
 NAVIGATION_MEMORY_LOCATION_STALE_SECONDS = 10.0
-NAVIGATION_PERSISTED_LOCATION_BOOT_SKEW_SECONDS = 5.0
+NAVIGATION_PERSISTED_LOCATION_FUTURE_SKEW_SECONDS = 60.0
+NAVIGATION_PERSISTED_LOCATION_MAX_AGE_SECONDS = 24 * 60 * 60
 
 TMUX_LOGS_PATH = Path("/data/tmux_logs")
 
@@ -524,7 +539,7 @@ def _last_gps_position_is_live(payload):
   return (time.monotonic() - updated_at_monotonic) <= NAVIGATION_MEMORY_LOCATION_STALE_SECONDS
 
 
-def _last_gps_position_is_current_boot(payload):
+def _last_gps_position_is_recent(payload):
   if not isinstance(payload, dict):
     return False
 
@@ -537,11 +552,14 @@ def _last_gps_position_is_current_boot(payload):
     return False
 
   now_sec = time.time()
-  boot_started_at_sec = now_sec - time.monotonic()
-  if updated_at_sec > (now_sec + 60.0):
+  if updated_at_sec > (now_sec + NAVIGATION_PERSISTED_LOCATION_FUTURE_SKEW_SECONDS):
     return False
 
-  return updated_at_sec >= (boot_started_at_sec - NAVIGATION_PERSISTED_LOCATION_BOOT_SKEW_SECONDS)
+  if not system_time_valid():
+    return True
+
+  age_sec = now_sec - updated_at_sec
+  return 0.0 <= age_sec <= NAVIGATION_PERSISTED_LOCATION_MAX_AGE_SECONDS
 
 
 def _get_navigation_last_position():
@@ -550,7 +568,7 @@ def _get_navigation_last_position():
     return memory_position
 
   persisted_position = _parse_last_gps_position(params.get("LastGPSPosition", encoding="utf8") or "")
-  if _last_gps_position_is_current_boot(persisted_position):
+  if _last_gps_position_is_recent(persisted_position):
     return persisted_position
 
   return None
@@ -3640,7 +3658,7 @@ def setup(app):
       destination,
     )
     params.put("NavDestination", json.dumps(destination))
-    params.put("ApiCache_NavDestinations", json.dumps(recent_destinations))
+    params.put("ApiCache_NavDestinations", recent_destinations)
     return {"message": "Destination set"}
 
   @app.route("/api/navigation/favorite", methods=["DELETE"])
@@ -3662,7 +3680,7 @@ def setup(app):
         )
       ]
 
-    params.put("FavoriteDestinations", json.dumps(favorites))
+    params.put("FavoriteDestinations", favorites)
     return jsonify(message="Destination removed from favorites!")
 
   @app.route("/api/navigation/favorite", methods=["GET"])
@@ -3675,7 +3693,7 @@ def setup(app):
         f["id"] = hashlib.sha1(raw.encode()).hexdigest()
         changed = True
     if changed:
-      params.put("FavoriteDestinations", json.dumps(favorites))
+      params.put("FavoriteDestinations", favorites)
     return jsonify(favorites=favorites)
 
   @app.route("/api/navigation/favorite", methods=["POST"])
@@ -3690,7 +3708,7 @@ def setup(app):
     if not any(f.get("id") == new_fav["id"] for f in existing):
       existing.append(new_fav)
 
-    params.put("FavoriteDestinations", json.dumps(existing))
+    params.put("FavoriteDestinations", existing)
     return {"message": "Destination added to favorites!"}
 
   @app.route("/api/navigation/favorite/rename", methods=["POST"])
@@ -3740,7 +3758,7 @@ def setup(app):
     if not found:
       return jsonify({"error": "Favorite not found"}), 404
 
-    params.put("FavoriteDestinations", json.dumps(existing_favorites))
+    params.put("FavoriteDestinations", existing_favorites)
     return jsonify(message="Favorite updated successfully!")
 
   @app.route("/api/navigation_key", methods=["DELETE"])