From b9657a688a75425424ec50eb39c6b8268fe62be4 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 12 Apr 2026 15:11:28 -0500
Subject: [PATCH] Mo' Mizu Mo' Problemz
---
.../test_conditional_experimental_mode.py | 41 ++++
.../lib/conditional_experimental_mode.py | 7 +-
.../assets/components/tools/toggles.css | 51 +++++
.../assets/components/tools/toggles.js | 185 +++++++++++++++---
.../assets/components/tools/update_manager.js | 34 ++--
system/athena/athenad.py | 36 +++-
system/athena/tests/test_athenad_main.py | 35 ++++
7 files changed, 343 insertions(+), 46 deletions(-)
create mode 100644 selfdrive/controls/tests/test_conditional_experimental_mode.py
create mode 100644 system/athena/tests/test_athenad_main.py
diff --git a/selfdrive/controls/tests/test_conditional_experimental_mode.py b/selfdrive/controls/tests/test_conditional_experimental_mode.py
new file mode 100644
index 000000000..34c93cce2
--- /dev/null
+++ b/selfdrive/controls/tests/test_conditional_experimental_mode.py
@@ -0,0 +1,41 @@
+from types import SimpleNamespace
+
+from openpilot.common.constants import CV
+from openpilot.starpilot.controls.lib.conditional_experimental_mode import ConditionalExperimentalMode
+
+
+def make_cem(*, model_length: float, model_stopped: bool = False, tracking_lead: bool = False):
+ planner = SimpleNamespace(
+ params=None,
+ params_memory=None,
+ model_length=model_length,
+ model_stopped=model_stopped,
+ tracking_lead=tracking_lead,
+ )
+ return ConditionalExperimentalMode(planner)
+
+
+def make_sm(traffic_mode_enabled: bool = False):
+ return {
+ "starpilotCarState": SimpleNamespace(trafficModeEnabled=traffic_mode_enabled),
+ }
+
+
+def test_low_speed_cruise_does_not_trigger_stop_light_from_model_stopped():
+ v_ego = 10 * CV.MPH_TO_MS
+ model_length = v_ego * 10.0
+
+ cem = make_cem(model_length=model_length, model_stopped=True)
+ cem.stop_sign_and_light(v_ego, make_sm(), model_time=7.0)
+
+ assert not cem.stop_light_detected
+
+
+def test_predicted_stop_within_threshold_triggers_stop_light():
+ v_ego = 30 * CV.MPH_TO_MS
+ model_length = v_ego * 4.0
+
+ cem = make_cem(model_length=model_length)
+ cem.stop_sign_and_light(v_ego, make_sm(), model_time=7.0)
+
+ assert cem.stop_light_detected
diff --git a/starpilot/controls/lib/conditional_experimental_mode.py b/starpilot/controls/lib/conditional_experimental_mode.py
index ff58833f5..78d51e32a 100644
--- a/starpilot/controls/lib/conditional_experimental_mode.py
+++ b/starpilot/controls/lib/conditional_experimental_mode.py
@@ -199,7 +199,12 @@ class ConditionalExperimentalMode:
model_stopping = self.starpilot_planner.model_length < v_ego * adjusted_model_time
- self.stop_light_filter.update(self.starpilot_planner.model_stopped or model_stopping)
+ # `model_stopped` is a coarse horizon-length check (< 50 m with current constants)
+ # used elsewhere for force-stop/green-light behavior. Reusing it here causes
+ # ordinary low-speed cruising to look like a stop prediction and can latch the
+ # STOP_LIGHT CEM trigger. For the CEM detector, key strictly off the configured
+ # "predicted stop within N seconds" threshold.
+ self.stop_light_filter.update(model_stopping)
self.stop_light_detected = bool(self.stop_light_filter.x >= THRESHOLD**2 and not self.starpilot_planner.tracking_lead)
else:
self.stop_light_filter.x = 0
diff --git a/starpilot/system/the_pond/assets/components/tools/toggles.css b/starpilot/system/the_pond/assets/components/tools/toggles.css
index 8218cb497..dbe9c6335 100644
--- a/starpilot/system/the_pond/assets/components/tools/toggles.css
+++ b/starpilot/system/the_pond/assets/components/tools/toggles.css
@@ -109,6 +109,57 @@
width: 100%;
}
+.toggle-control-status {
+ background-color: rgba(10, 12, 18, 0.35);
+ border: 1px solid rgba(94, 200, 200, 0.2);
+ border-radius: var(--border-radius-lg);
+ margin-top: var(--padding-base);
+ padding: var(--padding-base);
+}
+
+.toggle-control-status.error {
+ border-color: rgba(224, 85, 119, 0.4);
+}
+
+.toggle-control-status-title {
+ color: var(--text-color);
+ font-size: var(--font-size-base);
+ font-weight: var(--font-weight-bold);
+}
+
+.toggle-control-status-line {
+ color: var(--text-color);
+ font-size: var(--font-size-sm);
+ margin: var(--margin-sm) 0 0;
+}
+
+.toggle-control-status-line.error {
+ color: var(--danger-fg);
+}
+
+.toggle-control-status-track {
+ background: var(--track-color);
+ border-radius: var(--border-radius-sm);
+ height: 10px;
+ margin-top: var(--margin-sm);
+ overflow: hidden;
+}
+
+.toggle-control-status-track.error {
+ border: 1px solid var(--danger-bg);
+}
+
+.toggle-control-status-fill {
+ background: linear-gradient(90deg, #5ec8c8 0%, #8b6cc5 100%);
+ border-radius: var(--border-radius-sm);
+ height: 100%;
+ transition: width var(--transition-base);
+}
+
+.toggle-control-status-fill.error {
+ background: linear-gradient(90deg, #b43a3a 0%, #de5656 100%);
+}
+
@media only screen and (max-width: 768px) and (orientation: portrait) {
.toggle-control-wrapper {
flex-direction: column;
diff --git a/starpilot/system/the_pond/assets/components/tools/toggles.js b/starpilot/system/the_pond/assets/components/tools/toggles.js
index 4f2097a56..79d075fe5 100644
--- a/starpilot/system/the_pond/assets/components/tools/toggles.js
+++ b/starpilot/system/the_pond/assets/components/tools/toggles.js
@@ -2,20 +2,141 @@ import { html, reactive } from "/assets/vendor/arrow-core.js"
import { Modal } from "/assets/components/modal.js"
import { TailscaleControl } from "/assets/components/tailscale/tailscale.js"
-export function ToggleControl() {
- const state = reactive({
- showResetDefaultModal: false,
- showResetStockModal: false,
- showSaveMeModal: false,
- factoryResetBusy: false,
- });
+const FACTORY_RESET_STATUS_POLL_INTERVAL_MS = 1000
- const fileInput = document.createElement("input")
+const state = reactive({
+ showResetDefaultModal: false,
+ showResetStockModal: false,
+ showSaveMeModal: false,
+ factoryResetBusy: false,
+ factoryResetStatus: null,
+})
+
+let initialized = false
+let fileInput = null
+let factoryResetPollHandle = null
+
+function isToggleRouteActive() {
+ return window.location.pathname === "/manage_toggles"
+}
+
+function isFactoryResetStatusRelevant(payload) {
+ return String(payload?.lastMode || "").trim() === "factory-reset"
+}
+
+function toPercent(value) {
+ const n = Number(value)
+ if (!Number.isFinite(n)) return 0
+ return Math.max(0, Math.min(100, n))
+}
+
+function shouldContinueFactoryResetPolling() {
+ return !!state.factoryResetStatus && (
+ !!state.factoryResetStatus.running
+ || state.factoryResetStatus.stage === "factory-resetting"
+ || state.factoryResetStatus.stage === "rebooting"
+ || state.factoryResetStatus.stage === "starting"
+ )
+}
+
+function stopFactoryResetPolling() {
+ if (!factoryResetPollHandle) return
+ clearTimeout(factoryResetPollHandle)
+ factoryResetPollHandle = null
+}
+
+function ensureFactoryResetPolling() {
+ if (factoryResetPollHandle) return
+
+ const poll = async () => {
+ if (!isToggleRouteActive()) {
+ factoryResetPollHandle = null
+ return
+ }
+
+ await fetchFactoryResetStatus()
+ if (shouldContinueFactoryResetPolling()) {
+ factoryResetPollHandle = setTimeout(poll, FACTORY_RESET_STATUS_POLL_INTERVAL_MS)
+ } else {
+ factoryResetPollHandle = null
+ }
+ }
+
+ factoryResetPollHandle = setTimeout(poll, FACTORY_RESET_STATUS_POLL_INTERVAL_MS)
+}
+
+async function fetchFactoryResetStatus() {
+ try {
+ const response = await fetch("/api/update/fast/status")
+ const payload = await response.json()
+ if (!response.ok) {
+ throw new Error(payload.error || response.statusText || "Failed to load factory reset status")
+ }
+
+ state.factoryResetStatus = isFactoryResetStatusRelevant(payload) ? {
+ running: !!payload.running,
+ stage: String(payload.stage || "idle"),
+ message: String(payload.message || ""),
+ lastError: String(payload.lastError || ""),
+ progressLabel: String(payload.progressLabel || ""),
+ progressDetail: String(payload.progressDetail || ""),
+ progressPercent: toPercent(payload.progressPercent),
+ progressStep: Number(payload.progressStep || 0),
+ progressTotalSteps: Number(payload.progressTotalSteps || 5),
+ } : null
+ } catch (error) {
+ if (!shouldContinueFactoryResetPolling()) {
+ state.factoryResetStatus = null
+ }
+ } finally {
+ if (shouldContinueFactoryResetPolling()) {
+ ensureFactoryResetPolling()
+ } else {
+ stopFactoryResetPolling()
+ }
+ }
+}
+
+async function restoreToggles(event) {
+ const uploadedFile = event.target.files[0]
+ if (uploadedFile) {
+ const fileContents = await uploadedFile.text()
+ const toggleData = JSON.parse(fileContents)
+
+ const response = await fetch("/api/toggles/restore", {
+ method: "POST",
+ headers: { "Content-Type": "application/json" },
+ body: JSON.stringify(toggleData),
+ })
+
+ const result = await response.json()
+ showSnackbar(result.message || "Toggles restored!")
+
+ event.target.value = ""
+ }
+}
+
+function initializeFileInput() {
+ if (fileInput) return
+
+ fileInput = document.createElement("input")
fileInput.type = "file"
fileInput.accept = ".json"
fileInput.style.display = "none"
fileInput.addEventListener("change", restoreToggles)
document.body.appendChild(fileInput)
+}
+
+function initialize() {
+ if (initialized) return
+ initialized = true
+
+ initializeFileInput()
+}
+
+export function ToggleControl() {
+ initialize()
+ fetchFactoryResetStatus()
async function backupToggles() {
const response = await fetch("/api/toggles/backup", { method: "POST" })
@@ -29,25 +150,6 @@ export function ToggleControl() {
URL.revokeObjectURL(downloadUrl)
}
- async function restoreToggles(event) {
- const uploadedFile = event.target.files[0]
- if (uploadedFile) {
- const fileContents = await uploadedFile.text()
- const toggleData = JSON.parse(fileContents)
-
- const response = await fetch("/api/toggles/restore", {
- method: "POST",
- headers: { "Content-Type": "application/json" },
- body: JSON.stringify(toggleData)
- })
-
- const result = await response.json()
- showSnackbar(result.message || "Toggles restored!")
-
- event.target.value = ""
- }
- }
-
function confirmResetDefault() {
state.showResetDefaultModal = true;
}
@@ -94,7 +196,20 @@ export function ToggleControl() {
throw new Error(payload.error || response.statusText || "Failed to start factory reset")
}
+ state.factoryResetStatus = {
+ running: true,
+ stage: "starting",
+ message: payload.message || "Factory reset started. Device will reboot when complete.",
+ lastError: "",
+ progressLabel: "Preparing factory reset",
+ progressDetail: "Initializing factory reset...",
+ progressPercent: 0,
+ progressStep: 1,
+ progressTotalSteps: 5,
+ }
+ ensureFactoryResetPolling()
showSnackbar(payload.message || "Factory reset started.")
+ fetchFactoryResetStatus()
} catch (error) {
showSnackbar(error?.message || "Failed to start factory reset", "error")
} finally {
@@ -135,6 +250,22 @@ export function ToggleControl() {
disabled="${() => state.factoryResetBusy}">
${() => state.factoryResetBusy ? "Starting..." : "SAVE ME"}
+ ${() => state.factoryResetStatus ? html`
+
+
Factory Reset Status
+
+ Step:
+ ${state.factoryResetStatus.progressStep}/${state.factoryResetStatus.progressTotalSteps}
+ ${state.factoryResetStatus.progressLabel ? `- ${state.factoryResetStatus.progressLabel}` : ""}
+
+
+ ${() => state.factoryResetStatus.message ? html`
${state.factoryResetStatus.message}
` : ""}
+ ${() => state.factoryResetStatus.progressDetail ? html`
${state.factoryResetStatus.progressDetail}
` : ""}
+ ${() => state.factoryResetStatus.lastError ? html`
Last Error: ${state.factoryResetStatus.lastError}
` : ""}
+
Onroad: ${state.status?.isOnroad ? "Yes" : "No"}
-
-
+ ` : html`
Factory reset status and errors are shown on Backup/Restore.
`}
${() => state.status?.isOnroad ? html`
Onroad: actions disabled
` : ""}
@@ -573,9 +579,9 @@ export function UpdateManager() {
${state.status.message}
` : ""}
+ ${() => !isFactoryResetStatusActive() && state.status?.message && state.status?.stage !== "rebooting" ? html`${state.status.message}
` : ""}
${() => state.status?.remoteError ? html`Remote Check: ${state.status.remoteError}
` : ""}
- ${() => state.status?.lastError ? html`Last Error: ${state.status.lastError}
` : ""}
+ ${() => !isFactoryResetStatusActive() && state.status?.lastError ? html`Last Error: ${state.status.lastError}
` : ""}
${() => state.error ? html`Error: ${state.error}
` : ""}
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 9b5f5dcbf..ed167c417 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -37,6 +37,7 @@ from openpilot.common.realtime import set_core_affinity
from openpilot.system.hardware import HARDWARE, PC
from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
from openpilot.common.swaglog import cloudlog
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
from openpilot.system.version import get_build_metadata
from openpilot.system.hardware.hw import Paths
@@ -812,6 +813,20 @@ def backoff(retries: int) -> int:
return random.randrange(0, min(128, int(2 ** retries)))
+def get_athena_dongle_id(params: Params) -> str | None:
+ dongle_id = params.get("DongleId", encoding="utf-8")
+ if dongle_id in (None, "", UNREGISTERED_DONGLE_ID):
+ return None
+ return dongle_id
+
+
+def wait_for_exit(exit_event: threading.Event | None, timeout: float) -> bool:
+ if exit_event is None:
+ time.sleep(timeout)
+ return False
+ return exit_event.wait(timeout)
+
+
def main(exit_event: threading.Event = None):
try:
set_core_affinity([0, 1, 2, 3])
@@ -819,15 +834,28 @@ def main(exit_event: threading.Event = None):
cloudlog.exception("failed to set core affinity")
params = Params()
- dongle_id = params.get("DongleId")
UploadQueueCache.initialize(upload_queue)
- ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
- api = Api(dongle_id)
-
conn_start = None
conn_retries = 0
+ waiting_for_dongle_id = False
while exit_event is None or not exit_event.is_set():
+ dongle_id = get_athena_dongle_id(params)
+ if dongle_id is None:
+ if not waiting_for_dongle_id:
+ cloudlog.warning("athenad.main.missing_dongle_id")
+ waiting_for_dongle_id = True
+ conn_start = None
+ conn_retries = 0
+ params.remove("LastAthenaPingTime")
+ if wait_for_exit(exit_event, 5):
+ break
+ continue
+
+ waiting_for_dongle_id = False
+ ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
+ api = Api(dongle_id)
+
try:
if conn_start is None:
conn_start = time.monotonic()
diff --git a/system/athena/tests/test_athenad_main.py b/system/athena/tests/test_athenad_main.py
new file mode 100644
index 000000000..cd9ebdb0d
--- /dev/null
+++ b/system/athena/tests/test_athenad_main.py
@@ -0,0 +1,35 @@
+import threading
+import time
+
+from openpilot.common.params import Params
+from openpilot.system.athena import athenad
+
+
+class TestAthenadMain:
+ def setup_method(self):
+ self.default_params = {
+ "DongleId": "0000000000000000",
+ "AthenadUploadQueue": [],
+ }
+
+ self.params = Params()
+ for k, v in self.default_params.items():
+ self.params.put(k, v)
+
+ def test_main_waits_for_dongle_id(self, mocker):
+ self.params.remove("DongleId")
+
+ mock_create_connection = mocker.patch("openpilot.system.athena.athenad.create_connection")
+ exit_event = threading.Event()
+ thread = threading.Thread(target=athenad.main, args=(exit_event,))
+ thread.start()
+
+ try:
+ time.sleep(0.2)
+ mock_create_connection.assert_not_called()
+ assert thread.is_alive()
+ finally:
+ exit_event.set()
+ thread.join(5)
+
+ assert not thread.is_alive()