single IsOffroad param (#38205)

common/params_keys.h

@@ -61,7 +61,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsLiveStreaming", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsMetric", {PERSISTENT, BOOL}},
     {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"IsOnroad", {PERSISTENT, BOOL}},
     {"IsRhdDetected", {PERSISTENT, BOOL}},
     {"IsReleaseBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},

system/athena/athenad.py

@@ -583,7 +583,7 @@ def startStream(sdp: str, enabled: bool) -> dict:
   else:
       raise Exception("failed to get CarParamsPersistent")
 
-  if not params.get_bool("IsOnroad"):
+  if params.get_bool("IsOffroad"):
     # manager owns camerad/stream_encoderd/webrtcd; flip the param and let it bring them up.
     # webrtcd clears IsLiveStreaming when the session ends
     params.put_bool("IsLiveStreaming", True)
@@ -786,7 +786,7 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
   sock = ws.sock
 
   while True:
-    onroad = params.get_bool("IsOnroad")
+    onroad = not params.get_bool("IsOffroad")
     if onroad != onroad_prev:
       onroad_prev = onroad
 

system/athena/tests/test_athenad_ping.py

@@ -7,7 +7,6 @@ from typing import cast
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.athena import athenad
-from openpilot.system.manager.helpers import write_onroad_params
 from openpilot.common.hardware import TICI
 
 TIMEOUT_TOLERANCE = 20  # seconds
@@ -93,10 +92,10 @@ class TestAthenadPing:
 
   @pytest.mark.skipif(not TICI, reason="only run on desk")
   def test_offroad(self, subtests, mocker) -> None:
-    write_onroad_params(False, self.params)
+    self.params.put_bool("IsOffroad", True, block=True)
     self.assertTimeout(60 + TIMEOUT_TOLERANCE, subtests, mocker)  # based using TCP keepalive settings
 
   @pytest.mark.skipif(not TICI, reason="only run on desk")
   def test_onroad(self, subtests, mocker) -> None:
-    write_onroad_params(True, self.params)
+    self.params.put_bool("IsOffroad", False, block=True)
     self.assertTimeout(21 + TIMEOUT_TOLERANCE, subtests, mocker)

system/manager/helpers.py

@@ -44,12 +44,6 @@ def unblock_stdout() -> None:
     exit_status = os.wait()[1] >> 8
     os._exit(exit_status)
 
-
-def write_onroad_params(started, params):
-  params.put_bool("IsOnroad", started, block=True)
-  params.put_bool("IsOffroad", not started, block=True)
-
-
 def save_bootlog():
   # copy current params
   tmp = tempfile.mkdtemp()

system/manager/manager.py

@@ -13,7 +13,7 @@ from openpilot.common.utils import atomic_write
 from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.text_window import TextWindow
 from openpilot.common.hardware import HARDWARE
-from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
+from openpilot.system.manager.helpers import unblock_stdout, save_bootlog
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
@@ -121,7 +121,7 @@ def manager_thread() -> None:
   sm = messaging.SubMaster(['deviceState', 'carParams', 'pandaStates'], poll='deviceState')
   pm = messaging.PubMaster(['managerState'])
 
-  write_onroad_params(False, params)
+  params.put_bool("IsOffroad", True, block=True)
   ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
 
   started_prev = False
@@ -141,9 +141,9 @@ def manager_thread() -> None:
     if ignition and not ignition_prev:
       params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
 
-    # update onroad params, which drives pandad's safety setter thread
+    # update offroad state for services that don't subscribe to deviceState
     if started != started_prev:
-      write_onroad_params(started, params)
+      params.put_bool("IsOffroad", not started, block=True)
 
     started_prev = started
     ignition_prev = ignition

tools/scripts/car/ecu_addrs.py

@@ -26,9 +26,9 @@ if __name__ == "__main__":
   # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False, block=True)
+  params.put_bool("IsOffroad", True, block=True)
   time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True, block=True)
+  params.put_bool("IsOffroad", False, block=True)
 
   obd_callback(params)(not args.no_obd)
 

tools/scripts/car/fw_versions.py

@@ -30,9 +30,9 @@ if __name__ == "__main__":
   # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False, block=True)
+  params.put_bool("IsOffroad", True, block=True)
   time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True, block=True)
+  params.put_bool("IsOffroad", False, block=True)
   set_obd_multiplexing = obd_callback(params)
 
   extra: Any = None