Gene Parmesan

selfdrive/car/card.py

@@ -122,7 +122,8 @@ class Car:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, self.params, num_pandas, cached_params, get_starpilot_toggles())
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, self.params, num_pandas, cached_params,
+                        get_starpilot_toggles(read_persisted_force_params=True))
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP
 
@@ -200,7 +201,7 @@ class Car:
 
     self.resume_prev_button = False
 
-    self.starpilot_toggles = get_starpilot_toggles()
+    self.starpilot_toggles = get_starpilot_toggles(read_persisted_force_params=True)
 
     self.FPCP.alternativeExperience |= interface_alternative_experience
 

starpilot/common/starpilot_variables.py

@@ -336,7 +336,7 @@ def default_ev_tuning_enabled(CP):
   ev_vehicle |= getattr(CP, "transmissionType", None) == car.CarParams.TransmissionType.direct
   return bool(ev_vehicle)
 
-def get_starpilot_toggles(sm=messaging.SubMaster(["starpilotPlan"])):
+def get_starpilot_toggles(sm=messaging.SubMaster(["starpilotPlan"]), *, read_persisted_force_params=False):
   toggles_text = sm["starpilotPlan"].starpilotToggles
   if toggles_text:
     get_starpilot_toggles._last_toggles_text = toggles_text
@@ -345,16 +345,18 @@ def get_starpilot_toggles(sm=messaging.SubMaster(["starpilotPlan"])):
 
   toggles = process_starpilot_toggles(toggles_text)
 
-  # Force drive-state controls must be authoritative from params so they
-  # apply immediately even if starpilotPlan publication is temporarily stale.
-  if not hasattr(get_starpilot_toggles, "_params"):
-    get_starpilot_toggles._params = Params(return_defaults=True)
+  # Realtime callers consume these values from the serialized toggle broadcast.
+  # Only startup/state-management callers should synchronously read the backing
+  # files; doing so from every 100 Hz control loop can stall critical processes.
+  if read_persisted_force_params:
+    if not hasattr(get_starpilot_toggles, "_params"):
+      get_starpilot_toggles._params = Params(return_defaults=True)
 
-  toggles.force_offroad = get_starpilot_toggles._params.get_bool("ForceOffroad")
-  toggles.force_onroad = get_starpilot_toggles._params.get_bool("ForceOnroad")
-  # Controller selection happens before the first live StarPilot broadcast. Do
-  # not let a cached CarParams/controller type hide the persisted user request.
-  toggles.force_torque_controller = get_starpilot_toggles._params.get_bool("ForceTorqueController")
+    toggles.force_offroad = get_starpilot_toggles._params.get_bool("ForceOffroad")
+    toggles.force_onroad = get_starpilot_toggles._params.get_bool("ForceOnroad")
+    # Controller selection happens before the first live StarPilot broadcast. Do
+    # not let a cached CarParams/controller type hide the persisted user request.
+    toggles.force_torque_controller = get_starpilot_toggles._params.get_bool("ForceTorqueController")
   return toggles
 
 @cache

starpilot/common/tests/test_starpilot_variables.py

@@ -41,11 +41,29 @@ def test_get_starpilot_toggles_uses_persisted_force_torque_request(monkeypatch):
   monkeypatch.setattr(spv.get_starpilot_toggles, "_params", params, raising=False)
 
   payload = '{"force_torque_controller": false}'
-  toggles = spv.get_starpilot_toggles({"starpilotPlan": SimpleNamespace(starpilotToggles=payload)})
+  toggles = spv.get_starpilot_toggles(
+    {"starpilotPlan": SimpleNamespace(starpilotToggles=payload)},
+    read_persisted_force_params=True,
+  )
 
   assert toggles.force_torque_controller is True
 
 
+def test_get_starpilot_toggles_realtime_path_does_not_read_persisted_force_params(monkeypatch):
+  class UnexpectedParamsRead:
+    def get_bool(self, key):
+      raise AssertionError(f"unexpected persisted param read: {key}")
+
+  monkeypatch.setattr(spv.get_starpilot_toggles, "_params", UnexpectedParamsRead(), raising=False)
+
+  payload = '{"force_offroad": false, "force_onroad": true, "force_torque_controller": false}'
+  toggles = spv.get_starpilot_toggles({"starpilotPlan": SimpleNamespace(starpilotToggles=payload)})
+
+  assert toggles.force_offroad is False
+  assert toggles.force_onroad is True
+  assert toggles.force_torque_controller is False
+
+
 class _FakeParams:
   def __init__(self, floats=None, ints=None, bools=None):
     self.floats = dict(floats or {})

system/hardware/hardwared.py

@@ -218,7 +218,7 @@ def hardware_thread(end_event, hw_queue) -> None:
   sm = sm.extend(['starpilotPlan'])
   pm = pm.extend(['starpilotDeviceState'])
 
-  starpilot_toggles = get_starpilot_toggles()
+  starpilot_toggles = get_starpilot_toggles(read_persisted_force_params=True)
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
@@ -488,7 +488,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     should_start_prev = should_start
 
     # StarPilot variables
-    starpilot_toggles = get_starpilot_toggles(sm)
+    starpilot_toggles = get_starpilot_toggles(sm, read_persisted_force_params=True)
 
 
 def main():

system/manager/manager.py

@@ -1043,7 +1043,7 @@ def manager_thread() -> None:
   last_timing = _log_boot_timing("manager_thread", "messaging", manager_thread_start, last_timing)
 
   write_onroad_params(False, params)
-  initial_toggles = get_starpilot_toggles()
+  initial_toggles = get_starpilot_toggles(read_persisted_force_params=True)
   last_timing = _log_boot_timing("manager_thread", "initial_toggles", manager_thread_start, last_timing)
   ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore, starpilot_toggles=initial_toggles)
   last_timing = _log_boot_timing("manager_thread", "initial_ensure_running", manager_thread_start, last_timing)
@@ -1059,7 +1059,7 @@ def manager_thread() -> None:
 
   params_memory = Params(memory=True)
 
-  starpilot_toggles = get_starpilot_toggles()
+  starpilot_toggles = get_starpilot_toggles(read_persisted_force_params=True)
   last_timing = _log_boot_timing("manager_thread", "loop_toggles", manager_thread_start, last_timing)
   _log_boot_timing("manager_thread", "loop_ready", manager_thread_start, last_timing)
 
@@ -1133,7 +1133,7 @@ def manager_thread() -> None:
       break
 
     # StarPilot variables
-    starpilot_toggles = get_starpilot_toggles(sm)
+    starpilot_toggles = get_starpilot_toggles(sm, read_persisted_force_params=True)
 
 
 def main() -> None: