Keep native replay display visible through audio drain

roadscore/prototype/native_receiver.sh

@@ -83,9 +83,23 @@ done
 bridge_status=0
 wait "$bridge_pid" || bridge_status=$?
 bridge_pid=""
-for attempt in $(seq 1 8); do
-  kill -0 "$audio_pid" 2>/dev/null || break
-  sleep 1
-done
-
+# EOF closes the audio stream; keep the replay display alive while it drains.
+# Never silently turn a slow/failed audio shutdown into a successful archive.
+if [ -n "$audio_pid" ]; then
+  for attempt in $(seq 1 150); do
+    kill -0 "$audio_pid" 2>/dev/null || break
+    sleep .2
+  done
+  if kill -0 "$audio_pid" 2>/dev/null; then
+    echo 'RoadScore audio did not finish within 30 seconds after replay EOF'
+    exit 1
+  fi
+  audio_status=0
+  wait "$audio_pid" || audio_status=$?
+  audio_pid=""
+  if [ "$audio_status" != 0 ]; then
+    cat results/current/app.log
+    exit "$audio_status"
+  fi
+fi
 exit "$bridge_status"

roadscore/prototype/normal_onroad.py

@@ -61,6 +61,7 @@ env['ROADSCORE_COMPOSITION_POLICY']=composition_policy
 env['ROADSCORE_COMPOSER']=a.composer
 env['ROADSCORE_ACE_PROFILE']=a.profile
 if native:env.setdefault('ROADSCORE_REPLAY_PRIME','1')
+if native and not a.replay:env['ROADSCORE_AUDIO_DRAIN_FILE']=str(R/'results/current/audio_drained.json')
 env['ROADSCORE_OVERLAY_CAPTURE']=str(out/'overlay.png')
 env['ROADSCORE_STATUS_FILE']=str(out/'roadscore_status.json')
 initial_display={'readiness':'Preparing','composer':a.composer,'profile':a.profile if a.composer=='ace' else None,'render_mode':a.render_mode,'style':a.profile.title() if a.composer=='ace' else settings.style}

roadscore/prototype/normal_ui_audit.py

@@ -3,6 +3,14 @@ import os,json,time,runpy
 from pathlib import Path
 from openpilot.selfdrive.ui.ui_state import UIState, device
 from preparing_awake import PreparationWake
+from replay_display_hold import ReplayDisplayHold
+display_hold=ReplayDisplayHold(os.environ.get("ROADSCORE_AUDIO_DRAIN_FILE"), enabled=os.environ.get("OPENPILOT_PREFIX")=="roadscore_replay")
+original_state=UIState._update_state
+def replay_state(self,*args,**kwargs):
+ result=original_state(self,*args,**kwargs)
+ self.started=display_hold.apply(self.started)
+ return result
+UIState._update_state=replay_state
 preparation_wake=PreparationWake(os.environ.get("ROADSCORE_STATUS_FILE"),Path("/TICI").exists())
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer

roadscore/prototype/replay_display_hold.py

@@ -0,0 +1,43 @@
+"""Keep only the replay presentation visible while its final audio drains."""
+import json
+import math
+from pathlib import Path
+import time
+
+
+class ReplayDisplayHold:
+  def __init__(self, marker=None, enabled=False, clock=time.monotonic, maximum_hold=20.):
+    self.marker = Path(marker) if marker else None
+    self.enabled = bool(enabled and marker)
+    self.clock = clock
+    self.started_at = clock()
+    self.maximum_hold = maximum_hold
+    self.seen_onroad = False
+    self.holding_since = None
+    self.released = False
+
+  def apply(self, started):
+    if not self.enabled or self.released:
+      return started
+    now = self.clock()
+    try:
+      value = json.loads(self.marker.read_text())
+      wall = value.get('wall')
+      if (isinstance(wall, (int, float)) and math.isfinite(wall)
+          and self.started_at <= wall <= now and type(value.get('drained')) is bool):
+        self.released = True
+        return started
+    except (OSError, ValueError, TypeError):
+      pass
+    if started:
+      self.seen_onroad = True
+      self.holding_since = None
+      return True
+    if not self.seen_onroad:
+      return False
+    if self.holding_since is None:
+      self.holding_since = now
+    if now - self.holding_since >= self.maximum_hold:
+      self.released = True
+      return False
+    return True

roadscore/prototype/test_replay_display_hold.py

@@ -0,0 +1,31 @@
+import json
+from pathlib import Path
+import tempfile
+import unittest
+from replay_display_hold import ReplayDisplayHold
+
+class DisplayHoldTests(unittest.TestCase):
+  def setUp(self):
+    self.tmp=tempfile.TemporaryDirectory();self.addCleanup(self.tmp.cleanup)
+    self.path=Path(self.tmp.name)/'audio_drained.json';self.now=100.
+    self.hold=ReplayDisplayHold(self.path,True,lambda:self.now)
+  def marker(self,wall,drained=True):self.path.write_text(json.dumps(dict(wall=wall,drained=drained)))
+  def test_actual_onroad_required(self):
+    self.assertFalse(self.hold.apply(False));self.assertTrue(self.hold.apply(True))
+    self.now+=1;self.assertTrue(self.hold.apply(False))
+    self.now+=2;self.marker(self.now);self.assertFalse(self.hold.apply(False))
+  def test_stale_marker_ignored_and_timeout_bounded(self):
+    self.marker(99);self.hold.apply(True);self.assertTrue(self.hold.apply(False))
+    self.now+=20;self.assertFalse(self.hold.apply(False))
+  def test_failure_releases_and_cannot_relatch(self):
+    self.hold.apply(True);self.marker(100,False)
+    self.assertFalse(self.hold.apply(False));self.assertTrue(self.hold.apply(True));self.assertFalse(self.hold.apply(False))
+  def test_disabled_never_holds(self):
+    hold=ReplayDisplayHold(self.path,False,lambda:self.now)
+    self.assertTrue(hold.apply(True));self.assertFalse(hold.apply(False))
+  def test_partial_and_future_marker_do_not_release(self):
+    self.hold.apply(True);self.path.write_text('{')
+    self.assertTrue(self.hold.apply(False));self.marker(200)
+    self.assertTrue(self.hold.apply(False))
+
+if __name__=='__main__':unittest.main()