forte he

starpilot/controls/starpilot_card.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from opendbc.car.chrysler.values import pacifica_hybrid_aol_requires_set_press
-from opendbc.car.hyundai.values import HyundaiFlags
+from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, HyundaiFlags
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 from openpilot.selfdrive.car.cruise import CRUISE_LONG_PRESS, ButtonType
@@ -26,7 +26,12 @@ class StarPilotCard:
 
     self.accel_pressed = False
     self.always_on_lateral_allowed = False
-    self.hyundai_aol_needs_engagement = self.CP.brand == "hyundai" and not (getattr(self.CP, "flags", 0) & HyundaiFlags.CANFD)
+    hyundai_flags = getattr(self.CP, "flags", 0)
+    kia_forte_non_scc = (
+      getattr(self.CP, "carFingerprint", None) in (HYUNDAI_CAR.KIA_FORTE_2019_NON_SCC, HYUNDAI_CAR.KIA_FORTE_2021_NON_SCC) and
+      bool(hyundai_flags & HyundaiFlags.NON_SCC)
+    )
+    self.hyundai_aol_needs_engagement = self.CP.brand == "hyundai" and not (hyundai_flags & HyundaiFlags.CANFD) and not kia_forte_non_scc
     self.hyundai_aol_ready = False
     self.prev_active = False
     self.prev_cruise_enabled = False

starpilot/controls/tests/test_starpilot_card.py

@@ -156,6 +156,31 @@ def test_hyundai_canfd_lkas_button_can_toggle_aol_before_engagement(monkeypatch,
   assert ret.alwaysOnLateralEnabled is True
 
 
+def test_kia_forte_non_scc_main_cruise_button_can_toggle_aol_before_engagement(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(
+    SimpleNamespace(
+      brand="hyundai",
+      carFingerprint=spc.HYUNDAI_CAR.KIA_FORTE_2021_NON_SCC,
+      flags=spc.HyundaiFlags.NON_SCC,
+    ),
+    SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
+  )
+
+  car_state = make_car_state(available=True, button_events=[SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)])
+  starpilot_car_state = SimpleNamespace(distancePressed=False)
+  sm = make_sm()
+  toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True)
+
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.alwaysOnLateralEnabled is True
+
+
 def test_hyundai_main_cruise_button_toggles_aol_when_assigned_to_aol(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
   monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)