patch

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-701080a6-DEBUG";
+const uint8_t gitversion[19] = "DEV-c45051f5-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-701080a6-DEBUG
+DEV-c45051f5-DEBUG

starpilot/controls/starpilot_planner.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import json
+import math
 
 import cereal.messaging as messaging
 
@@ -21,6 +22,16 @@ from openpilot.starpilot.controls.lib.starpilot_vcruise import StarPilotVCruise
 from openpilot.starpilot.controls.lib.weather_checker import WeatherChecker
 
 
+def _sanitize_json_value(value):
+  if isinstance(value, float):
+    return value if math.isfinite(value) else None
+  if isinstance(value, dict):
+    return {k: _sanitize_json_value(v) for k, v in value.items()}
+  if isinstance(value, (list, tuple)):
+    return [_sanitize_json_value(v) for v in value]
+  return value
+
+
 class StarPilotPlanner:
   def __init__(self, error_log, ThemeManager):
     self.params = Params(return_defaults=True)
@@ -166,7 +177,7 @@ class StarPilotPlanner:
 
     starpilotPlan.starpilotEvents = self.starpilot_events.events.to_msg()
 
-    starpilotPlan.starpilotToggles = json.dumps(vars(starpilot_toggles))
+    starpilotPlan.starpilotToggles = json.dumps(_sanitize_json_value(vars(starpilot_toggles)), allow_nan=False)
 
     if sm["starpilotCarState"].trafficModeEnabled:
       starpilotPlan.increasedStoppedDistance = 0

starpilot/ui/starpilot_ui.cc

@@ -3,6 +3,9 @@
 #include <cstdlib>
 #include <string>
 
+#include <QDebug>
+#include <QJsonParseError>
+
 #include "system/hardware/hw.h"
 
 static void update_state(StarPilotUIState *fs) {
@@ -39,7 +42,18 @@ static void update_state(StarPilotUIState *fs) {
     QByteArray current_toggles(toggles.cStr(), toggles.size());
     static QByteArray previous_toggles;
     if (previous_toggles != current_toggles) {
-      starpilot_scene.starpilot_toggles = QJsonDocument::fromJson(current_toggles).object();
+      QJsonParseError parse_error;
+      QJsonDocument toggles_doc = QJsonDocument::fromJson(current_toggles, &parse_error);
+      if (parse_error.error == QJsonParseError::NoError && toggles_doc.isObject()) {
+        QJsonObject updated_toggles = starpilot_scene.starpilot_toggles;
+        const QJsonObject parsed_toggles = toggles_doc.object();
+        for (auto it = parsed_toggles.begin(); it != parsed_toggles.end(); ++it) {
+          updated_toggles.insert(it.key(), it.value());
+        }
+        starpilot_scene.starpilot_toggles = updated_toggles;
+      } else {
+        qWarning() << "Ignoring invalid StarPilot toggles JSON:" << parse_error.errorString();
+      }
       previous_toggles = current_toggles;
     }
   }