Here a we go

selfdrive/controls/controlsd.py

@@ -384,8 +384,8 @@ class Controls:
       self.ecu_disable_failed = self.params.get_bool("EcuDisableFailed")
       self.ecu_disable_failed_checked = True
       if self.ecu_disable_failed and self.CP.carFingerprint == NISSAN_CAR.NISSAN_LEAF:
-        self.CP.openpilotLongitudinalControl = False
-        self.CP.pcmCruise = True
+        self.CP = messaging.log_from_bytes(self.params.get("CarParams"), car.CarParams)
+        self.FPCP = messaging.log_from_bytes(self.params.get("StarPilotCarParams"), custom.StarPilotCarParams)
 
   def state_control(self):
     CS = self.sm['carState']

selfdrive/controls/tests/test_nissan_leaf_fallback.py

@@ -0,0 +1,56 @@
+import cereal.messaging as messaging
+
+from cereal import car, custom
+from opendbc.car.nissan.values import CAR as NISSAN_CAR
+
+from openpilot.selfdrive.car.cruise_state import should_cancel_stock_cruise
+from openpilot.selfdrive.controls.controlsd import Controls
+
+
+class FakeFallbackParams:
+  def __init__(self, fallback_cp, fallback_fpcp):
+    self.values = {
+      "CarParams": fallback_cp.to_bytes(),
+      "StarPilotCarParams": fallback_fpcp.to_bytes(),
+    }
+
+  def get_bool(self, key):
+    return key in ("ControlsReady", "EcuDisableFailed")
+
+  def get(self, key):
+    return self.values[key]
+
+
+def test_leaf_ecu_disable_fallback_reloads_read_only_car_params():
+  initial_cp = car.CarParams.new_message()
+  initial_cp.carFingerprint = NISSAN_CAR.NISSAN_LEAF
+  initial_cp.openpilotLongitudinalControl = True
+  initial_cp.pcmCruise = False
+  initial_fpcp = custom.StarPilotCarParams.new_message()
+  initial_fpcp.safetyConfigs = [custom.StarPilotCarParams.SafetyConfig.new_message(safetyParam=2)]
+
+  fallback_cp = car.CarParams.new_message()
+  fallback_cp.carFingerprint = NISSAN_CAR.NISSAN_LEAF
+  fallback_cp.openpilotLongitudinalControl = False
+  fallback_cp.pcmCruise = True
+  fallback_fpcp = custom.StarPilotCarParams.new_message()
+  fallback_fpcp.safetyConfigs = [custom.StarPilotCarParams.SafetyConfig.new_message(safetyParam=0)]
+
+  initial_cp_reader = messaging.log_from_bytes(initial_cp.to_bytes(), car.CarParams)
+  controls = Controls.__new__(Controls)
+  controls.CP = initial_cp_reader
+  controls.FPCP = messaging.log_from_bytes(initial_fpcp.to_bytes(), custom.StarPilotCarParams)
+  controls.params = FakeFallbackParams(fallback_cp, fallback_fpcp)
+  controls.ecu_disable_failed = False
+  controls.ecu_disable_failed_checked = False
+
+  controls.update_ecu_disable_failed()
+
+  assert controls.ecu_disable_failed
+  assert controls.ecu_disable_failed_checked
+  assert not controls.CP.openpilotLongitudinalControl
+  assert controls.CP.pcmCruise
+  assert controls.FPCP.safetyConfigs[0].safetyParam == 0
+  assert initial_cp_reader.openpilotLongitudinalControl
+  assert not initial_cp_reader.pcmCruise
+  assert not should_cancel_stock_cruise(controls.CP, cruise_enabled=True, controls_enabled=True)

selfdrive/selfdrived/selfdrived.py

@@ -297,11 +297,9 @@ class SelfdriveD:
       self.ecu_disable_failed = self.params.get_bool("EcuDisableFailed")
       self.ecu_disable_failed_checked = True
       if self.ecu_disable_failed:
-        fallback_cp = messaging.log_from_bytes(self.params.get("CarParams"), car.CarParams)
-        fallback_fpcp = messaging.log_from_bytes(self.params.get("StarPilotCarParams"), custom.StarPilotCarParams)
-        self.CP.openpilotLongitudinalControl = fallback_cp.openpilotLongitudinalControl
-        self.CP.pcmCruise = fallback_cp.pcmCruise
-        self.FPCP = fallback_fpcp
+        self.CP = messaging.log_from_bytes(self.params.get("CarParams"), car.CarParams)
+        self.FPCP = messaging.log_from_bytes(self.params.get("StarPilotCarParams"), custom.StarPilotCarParams)
+        self.car_events = CarSpecificEvents(self.CP)
 
   def clear_longitudinal_excessive_actuation_alert(self):
     alert = self.params.get("Offroad_ExcessiveActuation")

selfdrive/selfdrived/tests/test_selfdrived.py

@@ -1,4 +1,6 @@
-from cereal import car, custom
+import cereal.messaging as messaging
+
+from cereal import car, custom, log
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR
 from opendbc.car.nissan.values import CAR as NISSAN_CAR
 
@@ -63,8 +65,9 @@ def test_ecu_disable_fallback_synchronizes_behavior_and_safety_params():
   fallback_fpcp.safetyConfigs = [custom.StarPilotCarParams.SafetyConfig.new_message(safetyParam=0)]
 
   selfdrived = SelfdriveD.__new__(SelfdriveD)
-  selfdrived.CP = initial_cp
-  selfdrived.FPCP = initial_fpcp
+  initial_cp_reader = messaging.log_from_bytes(initial_cp.to_bytes(), car.CarParams)
+  selfdrived.CP = initial_cp_reader
+  selfdrived.FPCP = messaging.log_from_bytes(initial_fpcp.to_bytes(), custom.StarPilotCarParams)
   selfdrived.params = FakeFallbackParams(True, True, fallback_cp, fallback_fpcp)
   selfdrived.ecu_disable_failed = False
   selfdrived.ecu_disable_failed_checked = False
@@ -76,6 +79,16 @@ def test_ecu_disable_fallback_synchronizes_behavior_and_safety_params():
   assert not selfdrived.CP.openpilotLongitudinalControl
   assert selfdrived.CP.pcmCruise
   assert selfdrived.FPCP.safetyConfigs[0].safetyParam == 0
+  assert initial_cp_reader.openpilotLongitudinalControl
+  assert not initial_cp_reader.pcmCruise
+
+  CS = car.CarState.new_message()
+  CS.gearShifter = car.CarState.GearShifter.drive
+  CS.cruiseState.available = True
+  CS.cruiseState.enabled = True
+  CS_prev = car.CarState.new_message()
+  events = selfdrived.car_events.update(CS, CS_prev, car.CarControl.new_message())
+  assert log.OnroadEvent.EventName.pcmEnable in events.names
 
 
 def test_ecu_disable_fallback_does_not_change_other_cars():
@@ -93,8 +106,10 @@ def test_ecu_disable_fallback_does_not_change_other_cars():
   fallback_fpcp.safetyConfigs = [custom.StarPilotCarParams.SafetyConfig.new_message(safetyParam=0)]
 
   selfdrived = SelfdriveD.__new__(SelfdriveD)
-  selfdrived.CP = initial_cp
-  selfdrived.FPCP = initial_fpcp
+  initial_cp_reader = messaging.log_from_bytes(initial_cp.to_bytes(), car.CarParams)
+  initial_fpcp_reader = messaging.log_from_bytes(initial_fpcp.to_bytes(), custom.StarPilotCarParams)
+  selfdrived.CP = initial_cp_reader
+  selfdrived.FPCP = initial_fpcp_reader
   selfdrived.params = FakeFallbackParams(True, True, fallback_cp, fallback_fpcp)
   selfdrived.ecu_disable_failed = False
   selfdrived.ecu_disable_failed_checked = False
@@ -105,3 +120,5 @@ def test_ecu_disable_fallback_does_not_change_other_cars():
   assert selfdrived.CP.openpilotLongitudinalControl
   assert not selfdrived.CP.pcmCruise
   assert selfdrived.FPCP.safetyConfigs[0].safetyParam == 4
+  assert selfdrived.CP is initial_cp_reader
+  assert selfdrived.FPCP is initial_fpcp_reader