comms error?

starpilot/common/starpilot_variables.py

@@ -281,7 +281,13 @@ def default_ev_tuning_enabled(CP):
   return bool(ev_vehicle)
 
 def get_starpilot_toggles(sm=messaging.SubMaster(["starpilotPlan"])):
-  toggles = process_starpilot_toggles(sm["starpilotPlan"].starpilotToggles)
+  toggles_text = sm["starpilotPlan"].starpilotToggles
+  if toggles_text:
+    get_starpilot_toggles._last_toggles_text = toggles_text
+  else:
+    toggles_text = getattr(get_starpilot_toggles, "_last_toggles_text", "")
+
+  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.

starpilot/common/tests/test_starpilot_variables.py

@@ -0,0 +1,20 @@
+from types import SimpleNamespace
+
+from openpilot.starpilot.common import starpilot_variables as spv
+
+
+def test_get_starpilot_toggles_uses_last_non_empty_broadcast(monkeypatch):
+  params = SimpleNamespace(get_bool=lambda _key: False)
+  monkeypatch.setattr(spv.get_starpilot_toggles, "_params", params, raising=False)
+  monkeypatch.delattr(spv.get_starpilot_toggles, "_last_toggles_text", raising=False)
+
+  payload = '{"always_on_lateral": true, "vision_speed_limit_detection": true}'
+  sm_with_toggles = {"starpilotPlan": SimpleNamespace(starpilotToggles=payload)}
+  sm_without_toggles = {"starpilotPlan": SimpleNamespace(starpilotToggles="")}
+
+  first = spv.get_starpilot_toggles(sm_with_toggles)
+  second = spv.get_starpilot_toggles(sm_without_toggles)
+
+  assert first.always_on_lateral is True
+  assert second.always_on_lateral is True
+  assert second.vision_speed_limit_detection is True

starpilot/controls/starpilot_planner.py

@@ -32,6 +32,10 @@ def _sanitize_json_value(value):
   return value
 
 
+def serialize_starpilot_toggles(starpilot_toggles):
+  return json.dumps(_sanitize_json_value(vars(starpilot_toggles)), allow_nan=False)
+
+
 class StarPilotPlanner:
   def __init__(self, error_log, ThemeManager):
     self.params = Params(return_defaults=True)
@@ -152,7 +156,7 @@ class StarPilotPlanner:
     self.tracking_lead_filter.update(following_lead)
     return self.tracking_lead_filter.x >= THRESHOLD
 
-  def publish(self, theme_updated, sm, pm, starpilot_toggles):
+  def publish(self, theme_updated, sm, pm, starpilot_toggles, serialized_toggles=""):
     starpilot_plan_send = messaging.new_message("starpilotPlan")
     starpilot_plan_send.valid = sm.all_checks(service_list=["carState", "controlsState", "selfdriveState", "radarState"])
     starpilotPlan = starpilot_plan_send.starpilotPlan
@@ -178,7 +182,7 @@ class StarPilotPlanner:
 
     starpilotPlan.starpilotEvents = self.starpilot_events.events.to_msg()
 
-    starpilotPlan.starpilotToggles = json.dumps(_sanitize_json_value(vars(starpilot_toggles)), allow_nan=False)
+    starpilotPlan.starpilotToggles = serialized_toggles
 
     if sm["starpilotCarState"].trafficModeEnabled:
       starpilotPlan.increasedStoppedDistance = 0

starpilot/starpilot_process.py

@@ -24,12 +24,13 @@ from openpilot.starpilot.common.safe_mode import (
 )
 from openpilot.starpilot.common.starpilot_utilities import ThreadManager, flash_panda, is_url_pingable, lock_doors, use_konik_server
 from openpilot.starpilot.common.starpilot_variables import ERROR_LOGS_PATH, StarPilotVariables
-from openpilot.starpilot.controls.starpilot_planner import StarPilotPlanner
+from openpilot.starpilot.controls.starpilot_planner import StarPilotPlanner, serialize_starpilot_toggles
 from openpilot.starpilot.system.starpilot_stats import send_stats
 from openpilot.starpilot.system.starpilot_tracking import StarPilotTracking
 
 ASSET_CHECK_RATE = (1 / DT_MDL)
 DRIVE_STATS_SYNC_RATE = 30
+TOGGLE_BROADCAST_INTERVAL_FRAMES = int(1 / DT_MDL)
 UPDATE_CHECK_INTERVAL_SECONDS = 60 * 60
 
 
@@ -181,6 +182,8 @@ def starpilot_thread():
   thread_manager = ThreadManager()
 
   starpilot_toggles = starpilot_variables.starpilot_toggles
+  serialized_starpilot_toggles = serialize_starpilot_toggles(starpilot_toggles)
+  toggle_broadcast_pending = True
 
   drive_stats_session = requests.Session()
   next_drive_stats_sync = 0.0
@@ -211,6 +214,8 @@ def starpilot_thread():
       starpilot_planner.shutdown()
 
       starpilot_toggles = update_toggles(starpilot_variables, started, theme_manager, thread_manager, time_validated, params, starpilot_toggles)
+      serialized_starpilot_toggles = serialize_starpilot_toggles(starpilot_toggles)
+      toggle_broadcast_pending = True
       transition_offroad(starpilot_planner, theme_manager, thread_manager, time_validated, sm, params, starpilot_toggles)
 
       run_update_checks = True
@@ -221,13 +226,17 @@ def starpilot_thread():
       transition_onroad(error_log)
 
     if started and sm.updated["modelV2"]:
+      broadcast_toggles = toggle_broadcast_pending or (rate_keeper.frame % TOGGLE_BROADCAST_INTERVAL_FRAMES == 0)
       starpilot_planner.update(now, time_validated, sm, starpilot_toggles)
-      starpilot_planner.publish(theme_manager.theme_updated, sm, pm, starpilot_toggles)
+      starpilot_planner.publish(theme_manager.theme_updated, sm, pm, starpilot_toggles,
+                                serialized_starpilot_toggles if broadcast_toggles else "")
+      if broadcast_toggles:
+        toggle_broadcast_pending = False
 
       starpilot_tracking.update(now, time_validated, sm, starpilot_toggles)
     elif not started:
       starpilot_plan_send = messaging.new_message("starpilotPlan")
-      starpilot_plan_send.starpilotPlan.starpilotToggles = json.dumps(vars(starpilot_toggles))
+      starpilot_plan_send.starpilotPlan.starpilotToggles = serialized_starpilot_toggles
       starpilot_plan_send.starpilotPlan.themeUpdated = theme_manager.theme_updated
       pm.send("starpilotPlan", starpilot_plan_send)
 
@@ -256,6 +265,8 @@ def starpilot_thread():
 
     if params_memory.get_bool("StarPilotTogglesUpdated") or theme_manager.theme_updated:
       starpilot_toggles = update_toggles(starpilot_variables, started, theme_manager, thread_manager, time_validated, params, starpilot_toggles)
+      serialized_starpilot_toggles = serialize_starpilot_toggles(starpilot_toggles)
+      toggle_broadcast_pending = True
 
     periodic_update_due = monotonic_now >= next_periodic_update_check
     if periodic_update_due: