Add CLEAR_ON_IGNITION_ON (#35710)

* add CLEAR_ON_IGNITION_ON

* hardwared is the only place that currently checks all ignition sources. doing it in pandad wouldn't make sense. this okay?

* remember

* only two usages but meh

* manager should probably be the only daemon to manage params

* clean up

* oh this is craze

* Update selfdrive/monitoring/helpers.py

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

* together

---------

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

common/params.h

@@ -16,6 +16,7 @@ enum ParamKeyType {
   CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
   DEVELOPMENT_ONLY = 0x40,
+  CLEAR_ON_IGNITION_ON = 0x80,
   ALL = 0xFFFFFFFF
 };
 

common/params_keys.h

@@ -34,6 +34,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
+    {"DriverTooDistracted", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
     {"ExperimentalMode", PERSISTENT},
     {"ExperimentalModeConfirmed", PERSISTENT},

common/params_pyx.pyx

@@ -11,6 +11,7 @@ cdef extern from "common/params.h":
     CLEAR_ON_ONROAD_TRANSITION
     CLEAR_ON_OFFROAD_TRANSITION
     DEVELOPMENT_ONLY
+    CLEAR_ON_IGNITION_ON
     ALL
 
   cdef cppclass c_Params "Params":

selfdrive/monitoring/helpers.py

@@ -6,6 +6,7 @@ import cereal.messaging as messaging
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.params import Params
 from openpilot.common.stat_live import RunningStatFilter
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
@@ -159,6 +160,9 @@ class DriverMonitoring:
     self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
     self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
 
+    self.params = Params()
+    self.too_distracted = self.params.get_bool("DriverTooDistracted")
+
     self._reset_awareness()
     self._set_timers(active_monitoring=True)
     self._reset_events()
@@ -309,6 +313,11 @@ class DriverMonitoring:
     if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \
        self.terminal_time >= self.settings._MAX_TERMINAL_DURATION or \
        self.always_on and self.awareness <= self.threshold_prompt:
+      if not self.too_distracted:
+        self.params.put_bool_nonblocking("DriverTooDistracted", True)
+      self.too_distracted = True
+
+    if self.too_distracted:
       self.current_events.add(EventName.tooDistracted)
 
     always_on_valid = self.always_on and not wrong_gear

system/manager/manager.py

@@ -29,6 +29,7 @@ def manager_init() -> None:
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
   params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
+  params.clear_all(ParamKeyType.CLEAR_ON_IGNITION_ON)
   if build_metadata.release_channel:
     params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
 
@@ -126,13 +127,14 @@ def manager_thread() -> None:
     ignore.append("pandad")
   ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
 
-  sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
+  sm = messaging.SubMaster(['deviceState', 'carParams', 'pandaStates'], poll='deviceState')
   pm = messaging.PubMaster(['managerState'])
 
   write_onroad_params(False, params)
   ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
 
   started_prev = False
+  ignition_prev = False
 
   while True:
     sm.update(1000)
@@ -144,11 +146,16 @@ def manager_thread() -> None:
     elif not started and started_prev:
       params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
 
+    ignition = any(ps.ignitionLine or ps.ignitionCan for ps in sm['pandaStates'] if ps.pandaType != log.PandaState.PandaType.unknown)
+    if ignition and not ignition_prev:
+      params.clear_all(ParamKeyType.CLEAR_ON_IGNITION_ON)
+
     # update onroad params, which drives pandad's safety setter thread
     if started != started_prev:
       write_onroad_params(started, params)
 
     started_prev = started
+    ignition_prev = ignition
 
     ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)