delay controls start (#20761)

* delay controls start

* shouldn't need this stuff anymore

* only delay board

* bail after 2s

* fix loopback test

* fix process replay

* update refs

* bump cereal

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: f9a961f6fb69f36f8a113246920b2d71e6af8ae1

selfdrive/controls/controlsd.py

@@ -96,7 +96,7 @@ class Controls:
     if self.read_only:
       self.CP.safetyModel = car.CarParams.SafetyModel.noOutput
 
-    # Write CarParams for radard and boardd safety mode
+    # Write CarParams for radard
     cp_bytes = self.CP.to_bytes()
     params.put("CarParams", cp_bytes)
     put_nonblocking("CarParamsCache", cp_bytes)
@@ -117,6 +117,7 @@ class Controls:
     elif self.CP.lateralTuning.which() == 'lqr':
       self.LaC = LatControlLQR(self.CP)
 
+    self.initialized = False
     self.state = State.disabled
     self.enabled = False
     self.active = False
@@ -134,11 +135,7 @@ class Controls:
     self.current_alert_types = [ET.PERMANENT]
     self.logged_comm_issue = False
 
-    self.sm['liveCalibration'].calStatus = Calibration.CALIBRATED
-    self.sm['deviceState'].freeSpacePercent = 100
-    self.sm['driverMonitoringState'].events = []
-    self.sm['driverMonitoringState'].awarenessStatus = 1.
-    self.sm['driverMonitoringState'].faceDetected = False
+    # TODO: no longer necessary, aside from process replay
     self.sm['liveParameters'].valid = True
 
     self.startup_event = get_startup_event(car_recognized, controller_available, fuzzy_fingerprint)
@@ -168,6 +165,11 @@ class Controls:
       self.events.add(self.startup_event)
       self.startup_event = None
 
+    # Don't add any more events if not initialized
+    if not self.initialized:
+      self.events.add(EventName.controlsInitializing)
+      return
+
     # Create events for battery, temperature, disk space, and memory
     if self.sm['deviceState'].batteryPercent < 1 and self.sm['deviceState'].chargingError:
       # at zero percent battery, while discharging, OP should not allowed
@@ -211,12 +213,11 @@ class Controls:
                                                  LaneChangeState.laneChangeFinishing]:
       self.events.add(EventName.laneChange)
 
-    if self.can_rcv_error or (not CS.canValid and self.sm.frame > 5 / DT_CTRL):
+    if self.can_rcv_error or not CS.canValid:
       self.events.add(EventName.canError)
 
-    safety_mismatch = self.sm['pandaState'].safetyModel != self.CP.safetyModel
-    safety_mismatch = safety_mismatch or self.sm['pandaState'].safetyParam != self.CP.safetyParam
-    if (safety_mismatch and self.sm.frame > 2 / DT_CTRL) or self.mismatch_counter >= 200:
+    safety_mismatch = self.sm['pandaState'].safetyModel != self.CP.safetyModel or self.sm['pandaState'].safetyParam != self.CP.safetyParam
+    if safety_mismatch or self.mismatch_counter >= 200:
       self.events.add(EventName.controlsMismatch)
 
     if not self.sm['liveParameters'].valid:
@@ -253,7 +254,7 @@ class Controls:
           (not TICI or self.enable_lte_onroad):
           # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
           self.events.add(EventName.noGps)
-      if not self.sm.all_alive(['roadCameraState', 'driverCameraState']) and (self.sm.frame > 5 / DT_CTRL):
+      if not self.sm.all_alive(['roadCameraState', 'driverCameraState']):
         self.events.add(EventName.cameraMalfunction)
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
@@ -277,6 +278,11 @@ class Controls:
 
     self.sm.update(0)
 
+    all_valid = CS.canValid and self.sm.all_alive_and_valid()
+    if not self.initialized and (all_valid or self.sm.frame * DT_CTRL > 2.0):
+      self.initialized = True
+      Params().put_bool("ControlsReady", True)
+
     # Check for CAN timeout
     if not can_strs:
       self.can_error_counter += 1
@@ -484,7 +490,7 @@ class Controls:
     self.AM.process_alerts(self.sm.frame, clear_event)
     CC.hudControl.visualAlert = self.AM.visual_alert
 
-    if not self.read_only:
+    if not self.read_only and self.initialized:
       # send car controls over can
       can_sends = self.CI.apply(CC)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
@@ -584,7 +590,7 @@ class Controls:
 
     self.update_events(CS)
 
-    if not self.read_only:
+    if not self.read_only and self.initialized:
       # Update control state
       self.state_transition(CS)
       self.prof.checkpoint("State transition")