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pandad: close relay when openpilot goes offroad (#35739)

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* fix not resetting safety mode when op goes offroad

* hmm can do this but not needed

* revert

* rm check

* fix loopback

* ugh

* might have to do this

* Revert "might have to do this"

This reverts commit abd8a7ed74ca11874de1360f9630dc67bc4d02ee.

* fix

* also works but ehhh

* actually this is better, we already get IsOnroad at 10Hz

* top looks better

* fix
This commit is contained in:
Shane Smiskol
2025-07-16 23:35:58 -07:00
committed by GitHub
parent 39673deb77
commit ddb0d7c1a5
3 changed files with 13 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
selfdrive/pandad/panda_safety.cc
View File

@@ -2,9 +2,7 @@
#include "cereal/messaging/messaging.h"
#include "common/swaglog.h"
void PandaSafety::configureSafetyMode() {
bool is_onroad = params_.getBool("IsOnroad");
void PandaSafety::configureSafetyMode(bool is_onroad) {
if (is_onroad && !safety_configured_) {
updateMultiplexingMode();

19
selfdrive/pandad/pandad.cc
View File

@@ -188,7 +188,7 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const
cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
}
std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool is_onroad, bool spoofing_started) {
bool ignition_local = false;
const uint32_t pandas_cnt = pandas.size();
@@ -255,8 +255,9 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
panda->set_power_saving(power_save_desired);
}
// set safety mode to NO_OUTPUT when car is off. ELM327 is an alternative if we want to leverage athenad/connect
if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
// set safety mode to NO_OUTPUT when car is off or we're not onroad. ELM327 is an alternative if we want to leverage athenad/connect
bool should_close_relay = !ignition_local || !is_onroad;
if (should_close_relay && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
}
@@ -323,14 +324,14 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
pm->send("peripheralState", msg);
}
void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool spoofing_started) {
void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool is_onroad, bool spoofing_started) {
std::vector<std::string> connected_serials;
for (Panda *p : pandas) {
connected_serials.push_back(p->hw_serial());
}
{
auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
auto ignition_opt = send_panda_states(pm, pandas, is_onroad, spoofing_started);
if (!ignition_opt) {
LOGE("Failed to get ignition_opt");
return;
@@ -423,12 +424,14 @@ void pandad_run(std::vector<Panda *> &pandas) {
// Start the CAN send thread
std::thread send_thread(can_send_thread, pandas, fake_send);
Params params;
RateKeeper rk("pandad", 100);
SubMaster sm({"selfdriveState"});
PubMaster pm({"can", "pandaStates", "peripheralState"});
PandaSafety panda_safety(pandas);
Panda *peripheral_panda = pandas[0];
bool engaged = false;
bool is_onroad = false;
// Main loop: receive CAN data and process states
while (!do_exit && check_all_connected(pandas)) {
@@ -443,8 +446,9 @@ void pandad_run(std::vector<Panda *> &pandas) {
if (rk.frame() % 10 == 0) {
sm.update(0);
engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
process_panda_state(pandas, &pm, engaged, spoofing_started);
panda_safety.configureSafetyMode();
is_onroad = params.getBool("IsOnroad");
process_panda_state(pandas, &pm, engaged, is_onroad, spoofing_started);
panda_safety.configureSafetyMode(is_onroad);
}
// Send out peripheralState at 2Hz
@@ -469,7 +473,6 @@ void pandad_run(std::vector<Panda *> &pandas) {
}
// Close relay on exit to prevent a fault
const bool is_onroad = Params().getBool("IsOnroad");
if (is_onroad && !engaged) {
for (auto &p : pandas) {
if (p->connected()) {

2
selfdrive/pandad/pandad.h
View File

@@ -11,7 +11,7 @@ void pandad_main_thread(std::vector<std::string> serials);
class PandaSafety {
public:
PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
void configureSafetyMode();
void configureSafetyMode(bool is_onroad);
private:
void updateMultiplexingMode();