Stop Auto Learn when learning is switched off

openpilot/starpilot/lateral/tests/test_automatic_learning_source.py

@@ -7,6 +7,9 @@ import struct
 import unittest
 
 from opendbc.car.car_helpers import interfaces
+from opendbc.car.structs import car
+from openpilot.starpilot.lateral.learning_preferences import KEY as LEARNING_KEY, LEGACY_KEY as LEARNING_LEGACY_KEY, replace_preference
+from openpilot.system.manager.process_config import managed_processes
 from opendbc.car.gm.values import CAR as GM
 from opendbc.car.hyundai.values import CAR as HKG
 from opendbc.car.toyota.values import CAR as TOYOTA
@@ -236,3 +239,52 @@ class TestAutomaticLearningSource(unittest.TestCase):
       self.assertIsNone(conversion_identity(cp, ci, ControllerMode.STANDARD))
       cp, ci, _, _ = context(HKG.HYUNDAI_IONIQ_6)
       self.assertIsNone(conversion_identity(cp, ci, ControllerMode.STARPILOT))
+
+
+class TestDisabledLearnerProcess(unittest.TestCase):
+  def setUp(self):
+    self.prefix = OpenpilotPrefix()
+    self.prefix.__enter__()
+    self.addCleanup(self.prefix.__exit__, None, None, None)
+    self.params = Params()
+    self.cp = car.CarParams.new_message(brand='hyundai', carFingerprint='HYUNDAI_IONIQ_6')
+    self.process = managed_processes['steerlearnerd']
+
+  def test_default_still_runs_onroad(self):
+    assert self.process.should_run(True, self.params, self.cp)
+    assert not self.process.should_run(False, self.params, self.cp)
+    assert self.process.restart_on_exit
+
+  def test_explicit_off_does_not_start_learner(self):
+    self.params.put(LEARNING_KEY, replace_preference(None, self.cp, False), block=True)
+    assert not self.process.should_run(True, self.params, self.cp)
+
+  def test_toggle_can_stop_and_restart_learner(self):
+    for enabled in (False, True, False, True):
+      self.params.put(LEARNING_KEY, replace_preference(self.params.get(LEARNING_KEY), self.cp, enabled), block=True)
+      assert self.process.should_run(True, self.params, self.cp) is enabled
+
+  def test_legacy_off_does_not_start_learner(self):
+    self.params.put_bool(LEARNING_LEGACY_KEY, True, block=True)
+    assert not self.process.should_run(True, self.params, self.cp)
+
+  def test_scoped_on_retains_precedence_over_legacy_off(self):
+    self.params.put_bool(LEARNING_LEGACY_KEY, True, block=True)
+    self.params.put(LEARNING_KEY, replace_preference(None, self.cp, True), block=True)
+    assert self.process.should_run(True, self.params, self.cp)
+
+  def test_invalid_preference_does_not_start_learner(self):
+    for raw in (b'', b'not json', b'{"version":1,"vehicles":{"hyundai":{"HYUNDAI_IONIQ_6":1}}}'):
+      self.params.put(LEARNING_KEY, raw, block=True)
+      assert not self.process.should_run(True, self.params, self.cp)
+
+  def test_other_vehicle_preference_is_not_reused(self):
+    self.params.put(LEARNING_KEY, replace_preference(None, self.cp, False), block=True)
+    other = car.CarParams.new_message(brand='ford', carFingerprint='FORD_MUSTANG_MACH_E_MK1')
+    assert self.process.should_run(True, self.params, other)
+
+  def test_offroad_does_not_read_preferences(self):
+    class NoRead:
+      def get(self, *args, **kwargs):
+        raise AssertionError('Offroad learner should not read settings')
+    assert not self.process.should_run(False, NoRead(), self.cp)

openpilot/system/manager/process_config.py

@@ -62,6 +62,13 @@ def always_run(started: bool, params: Params, CP: car.CarParams) -> bool:
 def only_onroad(started: bool, params: Params, CP: car.CarParams) -> bool:
   return started
 
+def steering_learning(started: bool, params: Params, CP: car.CarParams) -> bool:
+  if not started:
+    return False
+  from openpilot.starpilot.lateral.learning_preferences import read_preference
+  preference = read_preference(params, CP)
+  return preference.valid and preference.enabled
+
 def vision_slc_development(started: bool, params: Params, CP: car.CarParams) -> bool:
   from openpilot.starpilot.feature_runtime import enabled as feature_enabled
   return started and feature_enabled(params, CP, 'slc', os.environ) and feature_enabled(params, CP, 'vision', os.environ)
@@ -162,7 +169,7 @@ procs = [
   NativeProcess("_pandad", "openpilot/selfdrive/pandad", ["./pandad"], always_run, enabled=False),
   PythonProcess("calibrationd", "openpilot.selfdrive.locationd.calibrationd", only_onroad),
   PythonProcess("torqued", "openpilot.selfdrive.locationd.torqued", only_onroad),
-  PythonProcess("steerlearnerd", "openpilot.starpilot.flm.steerlearnerd", only_onroad, restart_on_exit=True),
+  PythonProcess("steerlearnerd", "openpilot.starpilot.flm.steerlearnerd", steering_learning, restart_on_exit=True),
   PythonProcess("controlsd", "openpilot.selfdrive.controls.controlsd", and_(not_joystick, iscar)),
   PythonProcess("joystickd", "openpilot.tools.joystick.joystickd", or_(joystick, notcar)),
   PythonProcess("selfdrived", "openpilot.selfdrive.selfdrived.selfdrived", only_onroad),

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "079e92a64c345ad09f03d5a7ede05b13deea46058bbdcc4a29011799cf17a50d", "schema_version": 1}
+{"protected_inventory_sha256": "02da6162febbf11d54a5478dc5fb06e44bf60f07217aa39a141e8f181b9d5b0b", "schema_version": 1}