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onroad transition: clear params and start safety setter thread (#28151)

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* rename from ignition to onroad/offroad

* forgot one

* clear in manager

* don't clear in boardd anymore

fix

* params isn't used here

* add comment

* Revert "add comment"

This reverts commit 54fb6660501679e5a989c3f06c0a438bdb04dc7e.

* write params in manager

* first part is self explanatory

* remove these from thermald now

* start safety setter thread with IsOnroad

* drivesss

* more

* less

* come back

* makes sense here
old-commit-hash: b8fa7f58ea8db77d2f7a9e70d139019b24a29da7
This commit is contained in:
Shane Smiskol
2023-05-09 21:25:23 -07:00
committed by GitHub
parent ec5bd1077b
commit a14463cbe3
6 changed files with 43 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/boardd/boardd.cc
+7 -7
View File
@@ -466,7 +466,8 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
SubMaster sm({"controlsState"});
Panda *peripheral_panda = pandas[0];
bool ignition_last = false;
bool is_onroad = false;
bool is_onroad_last = false;
std::future<bool> safety_future;
LOGD("start panda state thread");
@@ -507,19 +508,18 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
}
}
// clear ignition-based params and set new safety on car start
if (ignition && !ignition_last) {
params.clearAll(CLEAR_ON_IGNITION_ON);
is_onroad = params.getBool("IsOnroad");
// set new safety on onroad transition, after params are cleared
if (is_onroad && !is_onroad_last) {
if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) {
safety_future = std::async(std::launch::async, safety_setter_thread, pandas);
} else {
LOGW("Safety setter thread already running");
}
} else if (!ignition && ignition_last) {
params.clearAll(CLEAR_ON_IGNITION_OFF);
}
ignition_last = ignition;
is_onroad_last = is_onroad;
sm.update(0);
const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
selfdrive/manager/manager.py
+15
View File
@@ -138,10 +138,25 @@ def manager_thread() -> None:
ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
started_prev = False
while True:
sm.update()
started = sm['deviceState'].started
if started and not started_prev:
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
elif not started and started_prev:
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
# initialize and update onroad params, which drives boardd's safety setter thread
if started != started_prev or sm.frame == 0:
params.put_bool("IsOnroad", started)
params.put_bool("IsOffroad", not started)
started_prev = started
ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
selfdrive/thermald/thermald.py
-3
View File
@@ -313,9 +313,6 @@ def thermald_thread(end_event, hw_queue):
should_start = should_start and all(startup_conditions.values())
if should_start != should_start_prev or (count == 0):
params.put_bool("IsOnroad", should_start)
params.put_bool("IsOffroad", not should_start)
params.put_bool("IsEngaged", False)
engaged_prev = False
HARDWARE.set_power_save(not should_start)