From ac47a9b73b27e1c6d4447416dff6dcc563306cd8 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Mon, 30 Mar 2026 13:01:41 -0500
Subject: [PATCH] troubleshoot

---
 .../assets/components/tools/troubleshoot.css  | 58 +++++++++++++
 .../assets/components/tools/troubleshoot.js   | 43 ++++++++++
 starpilot/system/the_pond/the_pond.py         | 86 +++++++++++++++++++
 3 files changed, 187 insertions(+)

diff --git a/starpilot/system/the_pond/assets/components/tools/troubleshoot.css b/starpilot/system/the_pond/assets/components/tools/troubleshoot.css
index 9cbf5cc1..c6e68f42 100644
--- a/starpilot/system/the_pond/assets/components/tools/troubleshoot.css
+++ b/starpilot/system/the_pond/assets/components/tools/troubleshoot.css
@@ -67,6 +67,64 @@
   margin: 6px 0 0;
 }
 
+.troubleshootFaultSummary {
+  margin: 0 0 12px;
+  opacity: 0.92;
+}
+
+.troubleshootFaultGrid {
+  display: grid;
+  grid-template-columns: repeat(auto-fit, minmax(180px, 1fr));
+  gap: 10px;
+}
+
+.troubleshootFaultItem {
+  display: flex;
+  flex-direction: column;
+  gap: 8px;
+  padding: 12px;
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-md);
+  background: rgba(255, 255, 255, 0.03);
+}
+
+.troubleshootFaultLabel {
+  font-weight: 700;
+}
+
+.troubleshootStatusBadge {
+  display: inline-flex;
+  align-items: center;
+  justify-content: center;
+  width: fit-content;
+  border-radius: 999px;
+  padding: 4px 10px;
+  font-size: 0.8rem;
+  font-weight: 800;
+  letter-spacing: 0.02em;
+  text-transform: uppercase;
+}
+
+.troubleshootStatusBadgeOk {
+  background: rgba(64, 201, 124, 0.18);
+  color: #b8ffd4;
+}
+
+.troubleshootStatusBadgeWarn {
+  background: rgba(245, 188, 87, 0.18);
+  color: #ffe2a3;
+}
+
+.troubleshootStatusBadgeFault {
+  background: rgba(217, 90, 123, 0.2);
+  color: #ffd7e2;
+}
+
+.troubleshootStatusBadgeNeutral {
+  background: rgba(255, 255, 255, 0.08);
+  color: rgba(255, 255, 255, 0.88);
+}
+
 .troubleshootSectionHeader {
   display: flex;
   align-items: center;
diff --git a/starpilot/system/the_pond/assets/components/tools/troubleshoot.js b/starpilot/system/the_pond/assets/components/tools/troubleshoot.js
index 5769805b..4d92c3c4 100644
--- a/starpilot/system/the_pond/assets/components/tools/troubleshoot.js
+++ b/starpilot/system/the_pond/assets/components/tools/troubleshoot.js
@@ -3,6 +3,12 @@ import { html, reactive } from "/assets/vendor/arrow-core.js"
 const state = reactive({
   loading: true,
   error: "",
+  vehicleStatus: {
+    available: false,
+    summary: "",
+    summarySeverity: "neutral",
+    items: [],
+  },
   snapshot: [],
   sections: [],
   isOnroad: false,
@@ -74,12 +80,25 @@ function countNonDefaultItems() {
   }, 0)
 }
 
+function statusBadgeClass(severity) {
+  const safeSeverity = String(severity || "neutral").trim().toLowerCase()
+  return `troubleshootStatusBadge troubleshootStatusBadge${safeSeverity.charAt(0).toUpperCase()}${safeSeverity.slice(1)}`
+}
+
 function buildReportText() {
   const lines = []
   lines.push("StarPilot Troubleshoot Report")
   lines.push(`Generated: ${new Date().toISOString()}`)
   lines.push(`Onroad: ${state.isOnroad ? "Yes" : "No"}`)
   lines.push(`Only non-default values: ${state.showNonDefaultOnly ? "Yes" : "No"}`)
+  if (state.vehicleStatus?.summary) {
+    lines.push("")
+    lines.push("Vehicle Fault Status")
+    lines.push(`Summary: ${state.vehicleStatus.summary}`)
+    for (const item of state.vehicleStatus.items || []) {
+      lines.push(`- ${item.label}: ${formatValue(item.value)}`)
+    }
+  }
   lines.push("")
   lines.push("Snapshot")
   for (const item of state.snapshot) {
@@ -133,6 +152,12 @@ async function fetchTroubleshoot(showToast = false) {
 
     state.snapshot = Array.isArray(payload.snapshot) ? payload.snapshot : []
     state.sections = Array.isArray(payload.sections) ? payload.sections : []
+    state.vehicleStatus = {
+      available: !!payload.vehicleStatus?.available,
+      summary: String(payload.vehicleStatus?.summary || ""),
+      summarySeverity: String(payload.vehicleStatus?.summarySeverity || "neutral"),
+      items: Array.isArray(payload.vehicleStatus?.items) ? payload.vehicleStatus.items : [],
+    }
     state.isOnroad = !!payload.isOnroad
     state.error = ""
 
@@ -234,6 +259,24 @@ export function Troubleshoot() {
           <p class="troubleshootStatusLine"><strong>Changed Settings:</strong> ${() => countNonDefaultItems()}</p>
         </div>
 
+        <div class="troubleshootCard">
+          <div class="troubleshootSectionHeader">
+            <h3>Vehicle Fault Status</h3>
+            <span class="${() => statusBadgeClass(state.vehicleStatus?.available ? "ok" : state.vehicleStatus?.summarySeverity || "neutral")}">
+              ${() => state.vehicleStatus?.available ? "Live" : "Unavailable"}
+            </span>
+          </div>
+          <p class="troubleshootFaultSummary">${() => state.vehicleStatus?.summary || "Vehicle fault status unavailable."}</p>
+          <div class="troubleshootFaultGrid">
+            ${() => (state.vehicleStatus?.items || []).map((item) => html`
+              <div class="troubleshootFaultItem">
+                <div class="troubleshootFaultLabel">${item.label}</div>
+                <div class="${() => statusBadgeClass(item.severity)}">${formatValue(item.value)}</div>
+              </div>
+            `)}
+          </div>
+        </div>
+
         <div class="troubleshootCard">
           <h3>Snapshot</h3>
           <div class="troubleshootHeaderRow troubleshootHeaderRowSnapshot">
diff --git a/starpilot/system/the_pond/the_pond.py b/starpilot/system/the_pond/the_pond.py
index c044395d..df533bbc 100644
--- a/starpilot/system/the_pond/the_pond.py
+++ b/starpilot/system/the_pond/the_pond.py
@@ -2077,6 +2077,91 @@ def _snapshot_bool_text(value):
     return "No"
   return "Unavailable"
 
+def _build_vehicle_fault_status():
+  unavailable_items = [
+    {"label": "Cruise Fault", "value": "Unavailable", "severity": "neutral"},
+    {"label": "LKAS Fault", "value": "Unavailable", "severity": "neutral"},
+    {"label": "CAN Valid", "value": "Unavailable", "severity": "neutral"},
+    {"label": "Cruise Available", "value": "Unavailable", "severity": "neutral"},
+    {"label": "Cruise Engaged", "value": "Unavailable", "severity": "neutral"},
+  ]
+
+  is_onroad = params.get_bool("IsOnroad")
+  unavailable_summary = "Vehicle fault status is unavailable while offroad."
+  unavailable_severity = "neutral"
+  if is_onroad:
+    unavailable_summary = "Waiting for live vehicle fault status..."
+    unavailable_severity = "warn"
+
+  try:
+    sm = messaging.SubMaster(["carState"], poll="carState")
+    sm.update(100)
+    has_live_car_state = sm.seen["carState"] and sm.alive["carState"] and sm.valid["carState"]
+    if not has_live_car_state:
+      return {
+        "available": False,
+        "summary": unavailable_summary,
+        "summarySeverity": unavailable_severity,
+        "items": unavailable_items,
+      }
+
+    car_state = sm["carState"]
+    cruise_state = getattr(car_state, "cruiseState", None)
+
+    cruise_faulted = bool(getattr(car_state, "accFaulted", False))
+    steer_fault_temporary = bool(getattr(car_state, "steerFaultTemporary", False))
+    steer_fault_permanent = bool(getattr(car_state, "steerFaultPermanent", False))
+    can_valid = bool(getattr(car_state, "canValid", False))
+    cruise_available = bool(getattr(cruise_state, "available", False)) if cruise_state is not None else None
+    cruise_enabled = bool(getattr(cruise_state, "enabled", False)) if cruise_state is not None else None
+
+    if steer_fault_permanent:
+      lkas_fault_value = "Permanent"
+      lkas_fault_severity = "fault"
+    elif steer_fault_temporary:
+      lkas_fault_value = "Temporary"
+      lkas_fault_severity = "warn"
+    else:
+      lkas_fault_value = "Clear"
+      lkas_fault_severity = "ok"
+
+    active_statuses = []
+    if cruise_faulted:
+      active_statuses.append("cruise fault")
+    if steer_fault_permanent:
+      active_statuses.append("permanent LKAS fault")
+    elif steer_fault_temporary:
+      active_statuses.append("temporary LKAS fault")
+    if not can_valid:
+      active_statuses.append("CAN invalid")
+
+    if active_statuses:
+      summary = "Active status: " + ", ".join(active_statuses) + "."
+      summary_severity = "fault" if ("cruise fault" in active_statuses or "permanent LKAS fault" in active_statuses or "CAN invalid" in active_statuses) else "warn"
+    else:
+      summary = "No active cruise or LKAS faults detected."
+      summary_severity = "ok"
+
+    return {
+      "available": True,
+      "summary": summary,
+      "summarySeverity": summary_severity,
+      "items": [
+        {"label": "Cruise Fault", "value": "Faulted" if cruise_faulted else "Clear", "severity": "fault" if cruise_faulted else "ok"},
+        {"label": "LKAS Fault", "value": lkas_fault_value, "severity": lkas_fault_severity},
+        {"label": "CAN Valid", "value": "Yes" if can_valid else "No", "severity": "ok" if can_valid else "fault"},
+        {"label": "Cruise Available", "value": "Yes" if cruise_available else "No", "severity": "ok" if cruise_available else "neutral"},
+        {"label": "Cruise Engaged", "value": "Yes" if cruise_enabled else "No", "severity": "ok" if cruise_enabled else "neutral"},
+      ],
+    }
+  except Exception:
+    return {
+      "available": False,
+      "summary": unavailable_summary,
+      "summarySeverity": unavailable_severity,
+      "items": unavailable_items,
+    }
+
 def _get_starpilot_toggles_snapshot():
   raw_toggles = _safe_params_get_live_raw("StarPilotToggles")
   if not raw_toggles:
@@ -2260,6 +2345,7 @@ def _build_troubleshoot_payload():
   ]
 
   return {
+    "vehicleStatus": _build_vehicle_fault_status(),
     "snapshot": snapshot_items,
     "sections": sections,
     "isOnroad": params.get_bool("IsOnroad"),