A Quickie

selfdrive/ui/tests/test_home_info_card.py

@@ -7,7 +7,6 @@ from openpilot.starpilot.navigation.destination_store import (
   FAVORITE_DESTINATIONS_KEY,
   NAVIGATION_DESTINATION_KEY,
   RECENT_DESTINATIONS_KEY,
-  START_ON_NEXT_DRIVE_KEY,
   same_destination,
 )
 
@@ -102,9 +101,7 @@ def test_page_switch_is_in_memory_and_destination_rows_select_once():
   row = card._destination_rects[0]
   row_center = rl.Vector2(row.x + row.width / 2, row.y + row.height / 2)
   card._handle_mouse_release(row_center)
-  stored_destination = json.loads(params.values[NAVIGATION_DESTINATION_KEY])
-  assert stored_destination["name"] == "Home"
-  assert stored_destination[START_ON_NEXT_DRIVE_KEY] is True
+  assert json.loads(params.values[NAVIGATION_DESTINATION_KEY])["name"] == "Home"
   assert params.values[RECENT_DESTINATIONS_KEY][0]["place_name"] == "Home"
   first_write_count = len(params.writes)
   assert card.active_destination["name"] == "Home"

selfdrive/ui/widgets/home_info_card.py

@@ -129,7 +129,7 @@ class HomeInfoCard(Widget):
       return
 
     favorite = self._favorites[index]
-    destination = self._store.set_destination(favorite, skip_if_same=True, start_on_next_drive=True)
+    destination = self._store.set_destination(favorite, skip_if_same=True)
     if destination is not None:
       self._active_destination = destination
 

starpilot/navigation/destination_store.py

@@ -10,8 +10,6 @@ RECENT_DESTINATIONS_KEY = "ApiCache_NavDestinations"
 FAVORITE_DESTINATIONS_KEY = "FavoriteDestinations"
 NAV_INSTRUCTION_STATE_KEY = "NavInstructionState"
 NAV_INSTRUCTION_COLLAPSED_KEY = "NavInstructionCollapsed"
-# Internal marker: preserve an offroad quick-start selection until the next onroad edge.
-START_ON_NEXT_DRIVE_KEY = "start_on_next_drive"
 
 RECENT_DESTINATIONS_LIMIT = 10
 
@@ -83,29 +81,6 @@ def parse_destination_json(raw_value: str | bytes | dict[str, Any] | None) -> di
   return normalize_destination_payload(payload)
 
 
-def _parse_next_drive_destination(raw_value: Any) -> dict[str, Any] | None:
-  payload = _json_value(raw_value, None)
-  if not isinstance(payload, dict) or payload.get(START_ON_NEXT_DRIVE_KEY) is not True:
-    return None
-  return normalize_destination_payload(payload)
-
-
-def is_next_drive_destination(raw_value: Any) -> bool:
-  return _parse_next_drive_destination(raw_value) is not None
-
-
-def activate_next_drive_destination(params: Any) -> dict[str, Any] | None:
-  """Promote an offroad quick-start destination to a normal active destination."""
-  raw_value = _param_get(params, NAVIGATION_DESTINATION_KEY, "")
-  destination = _parse_next_drive_destination(raw_value)
-  payload = _json_value(raw_value, None)
-  if destination is not None and isinstance(payload, dict):
-    payload = dict(payload)
-    payload.pop(START_ON_NEXT_DRIVE_KEY, None)
-    params.put(NAVIGATION_DESTINATION_KEY, json.dumps(payload))
-  return destination
-
-
 def _favorite_destination_id(payload: dict[str, Any]) -> str:
   """Keep the exact favorite ID formula used by Galaxy's existing backend."""
   raw = f"{payload.get('longitude')},{payload.get('latitude')}|{payload.get('routeId') or ''}|{payload.get('name') or ''}"
@@ -197,26 +172,21 @@ def set_navigation_destination(
   payload: Any,
   *,
   skip_if_same: bool = False,
-  start_on_next_drive: bool = False,
 ) -> dict[str, Any] | None:
   destination = normalize_destination_payload(payload)
   if destination is None:
     return None
 
-  current_raw = _param_get(params, NAVIGATION_DESTINATION_KEY, "")
   if skip_if_same:
-    current = parse_destination_json(current_raw)
-    if same_destination(current, destination) and is_next_drive_destination(current_raw) == start_on_next_drive:
+    current = parse_destination_json(_param_get(params, NAVIGATION_DESTINATION_KEY, ""))
+    if same_destination(current, destination):
       return destination
 
   raw_recent_destinations = _param_get(params, RECENT_DESTINATIONS_KEY, "[]")
   if isinstance(raw_recent_destinations, (list, dict)):
     raw_recent_destinations = json.dumps(raw_recent_destinations)
   recent_destinations = update_recent_destinations(raw_recent_destinations, destination)
-  stored_destination = dict(destination)
-  if start_on_next_drive:
-    stored_destination[START_ON_NEXT_DRIVE_KEY] = True
-  params.put(NAVIGATION_DESTINATION_KEY, json.dumps(stored_destination))
+  params.put(NAVIGATION_DESTINATION_KEY, json.dumps(destination))
   params.put(RECENT_DESTINATIONS_KEY, recent_destinations)
   return destination
 
@@ -390,14 +360,8 @@ class NavigationDestinationStore:
     payload: Any,
     *,
     skip_if_same: bool = False,
-    start_on_next_drive: bool = False,
   ) -> dict[str, Any] | None:
-    return set_navigation_destination(
-      self.params,
-      payload,
-      skip_if_same=skip_if_same,
-      start_on_next_drive=start_on_next_drive,
-    )
+    return set_navigation_destination(self.params, payload, skip_if_same=skip_if_same)
 
   def clear_navigation(self) -> bool:
     collapsed_supported = True

starpilot/navigation/test_destination_store.py

@@ -4,11 +4,8 @@ from openpilot.starpilot.navigation.destination_store import (
   FAVORITE_DESTINATIONS_KEY,
   NAVIGATION_DESTINATION_KEY,
   RECENT_DESTINATIONS_KEY,
-  START_ON_NEXT_DRIVE_KEY,
   NavigationDestinationStore,
-  activate_next_drive_destination,
   favorite_destination_id,
-  is_next_drive_destination,
   load_favorite_destinations,
   normalize_destination_payload,
   normalize_favorite_destination,
@@ -158,27 +155,6 @@ def test_destination_write_updates_active_destination_and_recents():
   assert params.values[RECENT_DESTINATIONS_KEY][0]["place_name"] == "Home"
 
 
-def test_next_drive_destination_is_marked_then_canonicalized_on_activation():
-  params = FakeParams({RECENT_DESTINATIONS_KEY: "[]"})
-
-  destination = set_navigation_destination(
-    params,
-    {"name": "Home", "latitude": 1, "longitude": 2},
-    start_on_next_drive=True,
-  )
-
-  stored = json.loads(params.values[NAVIGATION_DESTINATION_KEY])
-  assert stored[START_ON_NEXT_DRIVE_KEY] is True
-  assert is_next_drive_destination(stored)
-
-  stored["routeId"] = "main"
-  params.values[NAVIGATION_DESTINATION_KEY] = json.dumps(stored)
-  assert activate_next_drive_destination(params) == destination
-  promoted = json.loads(params.values[NAVIGATION_DESTINATION_KEY])
-  assert promoted == {**destination, "routeId": "main"}
-  assert not is_next_drive_destination(params.values[NAVIGATION_DESTINATION_KEY])
-
-
 def test_same_destination_write_is_idempotent_and_does_not_touch_recents():
   params = FakeParams({
     NAVIGATION_DESTINATION_KEY: json.dumps({"name": "Home", "latitude": 1, "longitude": 2}),
@@ -200,31 +176,6 @@ def test_same_destination_write_is_idempotent_and_does_not_touch_recents():
   assert [key for key, _value in settings_params.writes] == [NAVIGATION_DESTINATION_KEY, RECENT_DESTINATIONS_KEY]
 
 
-def test_same_destination_is_rewritten_when_next_drive_intent_changes():
-  params = FakeParams({
-    NAVIGATION_DESTINATION_KEY: json.dumps({"name": "Home", "latitude": 1, "longitude": 2}),
-    RECENT_DESTINATIONS_KEY: [],
-  })
-
-  set_navigation_destination(
-    params,
-    {"name": "Home", "latitude": 1, "longitude": 2},
-    skip_if_same=True,
-    start_on_next_drive=True,
-  )
-
-  assert is_next_drive_destination(params.values[NAVIGATION_DESTINATION_KEY])
-  first_write_count = len(params.writes)
-
-  set_navigation_destination(
-    params,
-    {"name": "Home", "latitude": 1, "longitude": 2},
-    skip_if_same=True,
-    start_on_next_drive=True,
-  )
-  assert len(params.writes) == first_write_count
-
-
 def test_navigation_destination_store_keeps_settings_favorite_migration_and_mutations():
   params = FakeParams({
     FAVORITE_DESTINATIONS_KEY: json.dumps([{"name": "Home", "latitude": 1, "longitude": 2}]),

system/manager/manager.py

@@ -45,7 +45,6 @@ from openpilot.starpilot.common.starpilot_variables import (
   LEGACY_STARPILOT_STATS_KEY_RENAMES,
   get_starpilot_toggles,
 )
-from openpilot.starpilot.navigation.destination_store import activate_next_drive_destination, is_next_drive_destination
 
 _MANAGER_IMPORT_DONE = time.monotonic()
 _manager_import_timing_line = (
@@ -134,18 +133,33 @@ def get_nav_offroad_clear_timeout_seconds(params) -> int:
   return max(_get_int_param_value(params, "ClearNavOnOffroadTimeoutMinutes", 0), 0) * 60
 
 
-def update_nav_offroad_clear_state(params, started: bool, tracked_destination, tracked_started_at, now: float):
-  nav_destination = params.get("NavDestination")
-  if started or not params.get_bool("ClearNavOnOffroad") or not nav_destination or is_next_drive_destination(nav_destination):
+def update_nav_offroad_clear_state(
+  params,
+  started: bool,
+  tracked_destination,
+  tracked_started_at,
+  now: float,
+  *,
+  offroad_transition: bool,
+):
+  if started or not params.get_bool("ClearNavOnOffroad"):
     return None, None
 
-  if nav_destination != tracked_destination or tracked_started_at is None:
+  nav_destination = params.get("NavDestination")
+  if offroad_transition:
+    if not nav_destination:
+      return None, None
     tracked_destination = nav_destination
     tracked_started_at = now
+  elif tracked_destination is None or tracked_started_at is None:
+    return None, None
+
+  if nav_destination != tracked_destination:
+    return None, None
 
   if now - tracked_started_at >= get_nav_offroad_clear_timeout_seconds(params):
     current_destination = params.get("NavDestination")
-    if current_destination != nav_destination or is_next_drive_destination(current_destination):
+    if current_destination != tracked_destination:
       return None, None
     params.remove("NavDestination")
     return None, None
@@ -1156,11 +1170,13 @@ def manager_thread() -> None:
       # StarPilot variables
       params_memory.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
 
-    if started and not started_prev:
-      activate_next_drive_destination(params)
-
     offroad_nav_destination, offroad_nav_started_at = update_nav_offroad_clear_state(
-      params, started, offroad_nav_destination, offroad_nav_started_at, time.monotonic()
+      params,
+      started,
+      offroad_nav_destination,
+      offroad_nav_started_at,
+      time.monotonic(),
+      offroad_transition=not started and started_prev,
     )
 
     ignition = any(ps.ignitionLine or ps.ignitionCan for ps in sm['pandaStates'] if ps.pandaType != log.PandaState.PandaType.unknown)

system/manager/test/test_manager.py

@@ -12,7 +12,6 @@ import openpilot.system.manager.manager as manager
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import BigDeviceUIProcess, managed_processes, procs
 from openpilot.system.hardware import HARDWARE
-from openpilot.starpilot.navigation.destination_store import START_ON_NEXT_DRIVE_KEY
 
 os.environ['FAKEUPLOAD'] = "1"
 
@@ -76,57 +75,93 @@ class FileBackedFakeParams:
     Path(self.get_param_path(key)).unlink(missing_ok=True)
 
 
-def test_offroad_navigation_cleanup_preserves_next_drive_destination(tmp_path):
-  destination = {
-    "name": "Home",
-    "place_name": "Home",
-    "latitude": 1.0,
-    "longitude": 2.0,
-    START_ON_NEXT_DRIVE_KEY: True,
-  }
+def test_navigation_selected_while_already_offroad_is_not_tracked_for_cleanup(tmp_path):
   params = FileBackedFakeParams(tmp_path / "params", {
     "ClearNavOnOffroad": True,
     "ClearNavOnOffroadTimeoutMinutes": 0,
-    "NavDestination": destination,
   })
 
-  state = manager.update_nav_offroad_clear_state(params, False, None, None, 10.0)
+  state = manager.update_nav_offroad_clear_state(
+    params, False, None, None, 10.0, offroad_transition=False
+  )
+  assert state == (None, None)
+
+  destination = {"name": "Home", "latitude": 1.0, "longitude": 2.0}
+  params.put("NavDestination", destination)
+  state = manager.update_nav_offroad_clear_state(
+    params, False, *state, 20.0, offroad_transition=False
+  )
 
   assert state == (None, None)
   assert json.loads(params.get("NavDestination")) == destination
 
+  state = manager.update_nav_offroad_clear_state(
+    params, True, *state, 30.0, offroad_transition=False
+  )
+  assert state == (None, None)
+  assert json.loads(params.get("NavDestination")) == destination
 
-def test_next_drive_selection_disarms_delayed_cleanup_for_same_destination(tmp_path):
-  active_destination = {
-    "name": "Home",
-    "place_name": "Home",
-    "latitude": 1.0,
-    "longitude": 2.0,
-  }
+  state = manager.update_nav_offroad_clear_state(
+    params, False, *state, 40.0, offroad_transition=True
+  )
+  assert state == (None, None)
+  assert params.get("NavDestination") is None
+
+
+def test_replacement_destination_disarms_delayed_cleanup(tmp_path):
   params = FileBackedFakeParams(tmp_path / "params", {
     "ClearNavOnOffroad": True,
     "ClearNavOnOffroadTimeoutMinutes": 15,
-    "NavDestination": active_destination,
+    "NavDestination": {"name": "Old", "latitude": 1.0, "longitude": 2.0},
   })
 
-  tracked = manager.update_nav_offroad_clear_state(params, False, None, None, 10.0)
-  assert tracked == (params.get("NavDestination"), 10.0)
+  tracked = manager.update_nav_offroad_clear_state(
+    params, False, None, None, 10.0, offroad_transition=True
+  )
+  replacement = {"name": "New", "latitude": 3.0, "longitude": 4.0}
+  params.put("NavDestination", replacement)
 
-  params.put("NavDestination", {**active_destination, START_ON_NEXT_DRIVE_KEY: True})
-  state = manager.update_nav_offroad_clear_state(params, False, *tracked, 20.0)
+  state = manager.update_nav_offroad_clear_state(
+    params, False, *tracked, 20.0, offroad_transition=False
+  )
 
   assert state == (None, None)
-  assert json.loads(params.get("NavDestination"))[START_ON_NEXT_DRIVE_KEY] is True
+  assert json.loads(params.get("NavDestination")) == replacement
 
 
-def test_unmarked_navigation_destination_still_clears_immediately_offroad(tmp_path):
+def test_active_navigation_clears_on_offroad_transition(tmp_path):
   params = FileBackedFakeParams(tmp_path / "params", {
     "ClearNavOnOffroad": True,
     "ClearNavOnOffroadTimeoutMinutes": 0,
     "NavDestination": {"name": "Home", "latitude": 1.0, "longitude": 2.0},
   })
 
-  state = manager.update_nav_offroad_clear_state(params, False, None, None, 10.0)
+  state = manager.update_nav_offroad_clear_state(
+    params, False, None, None, 10.0, offroad_transition=True
+  )
+
+  assert state == (None, None)
+  assert params.get("NavDestination") is None
+
+
+def test_active_navigation_clears_after_offroad_timeout(tmp_path):
+  params = FileBackedFakeParams(tmp_path / "params", {
+    "ClearNavOnOffroad": True,
+    "ClearNavOnOffroadTimeoutMinutes": 15,
+    "NavDestination": {"name": "Home", "latitude": 1.0, "longitude": 2.0},
+  })
+
+  tracked = manager.update_nav_offroad_clear_state(
+    params, False, None, None, 10.0, offroad_transition=True
+  )
+  tracked = manager.update_nav_offroad_clear_state(
+    params, False, *tracked, 909.0, offroad_transition=False
+  )
+  assert params.get("NavDestination") is not None
+
+  state = manager.update_nav_offroad_clear_state(
+    params, False, *tracked, 910.0, offroad_transition=False
+  )
 
   assert state == (None, None)
   assert params.get("NavDestination") is None
@@ -134,12 +169,11 @@ def test_unmarked_navigation_destination_still_clears_immediately_offroad(tmp_pa
 
 def test_offroad_cleanup_does_not_remove_destination_replaced_after_snapshot(tmp_path):
   old_destination = json.dumps({"name": "Old", "latitude": 1.0, "longitude": 2.0})
-  next_drive_destination = {
+  replacement_destination = {
     "name": "Home",
     "place_name": "Home",
     "latitude": 3.0,
     "longitude": 4.0,
-    START_ON_NEXT_DRIVE_KEY: True,
   }
 
   class SnapshotRaceParams(FileBackedFakeParams):
@@ -161,10 +195,12 @@ def test_offroad_cleanup_does_not_remove_destination_replaced_after_snapshot(tmp
   params = SnapshotRaceParams(tmp_path / "params", {
     "ClearNavOnOffroad": True,
     "ClearNavOnOffroadTimeoutMinutes": 0,
-    "NavDestination": next_drive_destination,
+    "NavDestination": replacement_destination,
   })
 
-  state = manager.update_nav_offroad_clear_state(params, False, None, None, 10.0)
+  state = manager.update_nav_offroad_clear_state(
+    params, False, None, None, 10.0, offroad_transition=True
+  )
 
   assert state == (None, None)
   assert "NavDestination" not in params.removed