SLC Fixes

opendbc_repo/opendbc/car/ford/carstate.py

@@ -35,6 +35,7 @@ class CarState(CarStateBase):
     self.lc_button = 0
     self.cancel_button = False
     self.cancel_resume_button = FordStockCruiseButton()
+    self.cruise_buttons = {ButtonType.accelCruise: False, ButtonType.decelCruise: False}
     self.steering_angle_offset_deg = 0.0
     self.lkas_available = False
     self.lkas_available_ts_nanos = 0
@@ -169,6 +170,13 @@ class CarState(CarStateBase):
 
     if self.CP.openpilotLongitudinalControl:
       button_events += create_button_events(self.cancel_button, prev_cancel_button, {1: ButtonType.cancel})
+      for button, signals in (
+        (ButtonType.accelCruise, ('CcAslButtnSetIncPress', 'CcAslButtnResIncPress', 'CcAslButtnIndxIncPress')),
+        (ButtonType.decelCruise, ('CcAslButtnSetDecPress', 'CcAslButtnResDecPress', 'CcAslButtnIndxDecPress')),
+      ):
+        pressed = any(self.buttons_stock_values[signal] for signal in signals)
+        button_events += create_button_events(pressed, self.cruise_buttons[button], {1: button})
+        self.cruise_buttons[button] = pressed
 
     ret.buttonEvents = button_events
 

opendbc_repo/opendbc/car/ford/tests/test_stock_cruise.py

@@ -1,4 +1,6 @@
 """Original switch context, state event and reached controller regressions."""
+import pytest
+
 from opendbc.can import CANPacker
 from opendbc.car import Bus, structs, gen_empty_fingerprint
 from opendbc.car.ford.interface import CarInterface
@@ -39,6 +41,27 @@ def test_actual_parser_cancel_edges_are_op_long_only_and_contextual():
       assert cancel == (expected if op_long else [])
 
 
+@pytest.mark.parametrize('vehicle', [CAR.FORD_ESCAPE_MK4, CAR.FORD_MUSTANG_MACH_E_MK1])
+@pytest.mark.parametrize('op_long', [False, True])
+@pytest.mark.parametrize('signal,button', [
+  ('CcAslButtnSetIncPress', 'accelCruise'), ('CcAslButtnResIncPress', 'accelCruise'),
+  ('CcAslButtnIndxIncPress', 'accelCruise'), ('CcAslButtnSetDecPress', 'decelCruise'),
+  ('CcAslButtnResDecPress', 'decelCruise'), ('CcAslButtnIndxDecPress', 'decelCruise'),
+])
+def test_directional_cruise_edges_reach_software_cruise_only_with_op_long(vehicle, op_long, signal, button):
+  cp = params(vehicle, alpha=op_long)
+  state = CarState(cp)
+  parsers = state.get_can_parsers(cp)
+  packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
+  for i, (pressed, expected) in enumerate(((0, []), (1, [True]), (1, []), (0, [False]))):
+    parsers[Bus.pt].update([(1_000_000_000 + i * 10_000_000, [
+      packer.make_can_msg('Steering_Data_FD1', parsers[Bus.pt].bus, {signal: pressed}),
+    ])])
+    out = state.update(parsers)
+    edges = [event.pressed for event in out.buttonEvents if event.type == getattr(structs.CarState.ButtonEvent.Type, button)]
+    assert edges == (expected if op_long else [])
+
+
 def test_reached_controller_preserves_precedence_cadence_and_stock_bits():
   cp = params(CAR.FORD_MUSTANG_MACH_E_MK1, alpha=False)
   controller = CarController(DBC[cp.carFingerprint], cp)

openpilot/selfdrive/car/cruise.py

@@ -261,7 +261,8 @@ class VCruiseHelper:
       target_kph = round(target_mps * CV.MS_TO_KPH)
     else:
       target_kph = round(target_mps * CV.MS_TO_MPH) * CV.MPH_TO_KPH
-    self.v_cruise_kph = float(np.clip(target_kph, V_CRUISE_MIN, V_CRUISE_MAX))
+    # Match ordinary button precision so stepping away and back restores this target.
+    self.v_cruise_kph = float(np.clip(round(target_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX))
     self.v_cruise_cluster_kph = self.v_cruise_kph
 
   def initialize_v_cruise(self, CS, experimental_mode: bool, *, resume: bool | None = None, initial_speed: object = V_CRUISE_INITIAL) -> None:

openpilot/starpilot/controllers/tests/test_set_speed.py

@@ -21,7 +21,8 @@ def test_real_absolute_request_changes_software_speed_without_physical_button(me
   assert sender.dispatch(True, sm, params, publisher, now_ns=now, target_mps=target)
   assert str(publisher.message.slcAction.kind) == 'cruiseSet'
   assert consumer.apply(publisher.message, params, state, sm, helper, now_ns=now, is_metric=metric, enabled=True)
-  assert helper.v_cruise_kph == pytest.approx(value if metric else value * CV.MPH_TO_KPH)
+  assert helper.v_cruise_kph == pytest.approx(value if metric else round(value * CV.MPH_TO_KPH, 1))
+  assert round(helper.v_cruise_kph * (1 if metric else CV.KPH_TO_MPH)) == value
   assert not list(state.buttonEvents)
   assert not consumer.apply(publisher.message, params, state, sm, helper, now_ns=now + 100_000_000,
                             is_metric=metric, enabled=True)

openpilot/starpilot/galaxy/tests/test_onroad_layout.mjs

@@ -528,12 +528,8 @@ vm.state.selected = "current_speed"
 vm.setSpeedSources("speedSources", true)
 assert.notEqual(vm.state.draft.speedSources, true) // Only from the cruise widget's own panel.
 vm.state.selected = "cruise_limits"
-vm.setSpeedAlign("center")
-assert.equal(vm.state.draft.speedAlign, "center")
-vm.setSpeedAlign("justify")
-assert.equal(vm.state.draft.speedAlign, "center") // Only left, center or right.
-vm.undo()
-assert.equal(vm.state.draft.speedAlign ?? "left", "left")
+assert.doesNotMatch(OnroadLayoutPage.template, /speedAlign|Text alignment/)
+assert.equal(OnroadLayoutPage.methods.setSpeedAlign, undefined)
 vm.setSpeedSources("palette", true)
 assert.equal(vm.state.draft.palette === true, false) // Only the two sources settings.
 // Moving or removing widgets keeps the same backdrop; scene and size changes replace it.
@@ -715,7 +711,9 @@ function feedFixture() {
 const normal = feedFixture()
 normal.feed.start()
 assert.equal(normal.requests[0].url, "./api/ui/layout")
-await normal.reply(0)
+const legacyAlignment = snapshot()
+legacyAlignment.document.speedAlign = "right"
+await normal.reply(0, legacyAlignment)
 const draft = copy(normal.feed.data.document); draft.layouts.compact.max_speed.x = 80
 normal.feed.save(draft)
 normal.feed.load(); normal.feed.save(draft)
@@ -724,6 +722,7 @@ assert.deepEqual(JSON.parse(normal.requests[1].options.body), { revision: "saved
 assert.equal(normal.requests[1].options.credentials, "same-origin")
 await normal.reply(1, { ...snapshot(), document: draft, revision: "new-revision" })
 assert.equal(normal.updates.at(-1).draft.layouts.compact.max_speed.x, 80)
+assert.equal(normal.updates.at(-1).draft.speedAlign, "right") // Unrelated edits preserve legacy layout fields.
 assert.equal(normal.feed.data.revision, "new-revision")
 
 for (const status of [409, 503, 400]) {

openpilot/starpilot/galaxy/tests/test_projection_layout.mjs

@@ -21,7 +21,7 @@ metadata.widgets.car_exit = { label: "Exit to car", kind: "car_exit", width: 96,
 metadata.widgetOrder = [...(metadata.widgetOrder || Object.keys(native.metadata.profiles.large.widgets)), "car_exit"]
 const widgets = Object.fromEntries(Object.entries(metadata.widgets).map(([id, widget]) => [id,
   { ...widget.default, ...(widget.resizable ? { size: widget.resizable.default } : {}) }]))
-const doc = { version: 4, clock24Hour: false, largeUiGammaTrial: false, blindSpotBorder: false, signalBorder: false, blindSpotCamera: false, hidePersonalityAlerts: false, wheelPedalFeedback: false, leadIndicator: false, leadInfo: "Off", speedSources: false, speedSourcesCard: false, speedAlign: "left", canvas: { width: 2880, height: 1080 }, widgets }
+const doc = { version: 4, clock24Hour: false, largeUiGammaTrial: false, blindSpotBorder: false, signalBorder: false, blindSpotCamera: false, hidePersonalityAlerts: false, wheelPedalFeedback: false, leadIndicator: false, leadInfo: "Off", speedSources: false, speedSourcesCard: false, speedAlign: "center", canvas: { width: 2880, height: 1080 }, widgets }
 const raw = { version: 1, document: doc, defaults: copy(doc), metadata,
   screen: { width: 1280, height: 720, margin_width: 0, margin_height: 240 },
   revision: "aa-screen-and-layout", editable: true, valid: true,
@@ -29,6 +29,7 @@ const raw = { version: 1, document: doc, defaults: copy(doc), metadata,
 const data = editorSnapshot(raw)
 assert.equal(validSnapshot(data), true)
 assert.equal(validDocument(data.document, data.metadata), true)
+assert.equal(data.document.speedAlign, "center") // Legacy preferences still load after removing the editor control.
 assert.equal(data.document.layouts.large.car_exit.opacity, 75)
 assert.equal(data.document.layouts.large.car_exit.background, false)
 const resizedMonitor = copy(data.document)
@@ -236,6 +237,7 @@ assert.equal(requests[0].url, "./api/android-auto/layout")
 assert.equal(requests[1].body.document.version, 4)
 assert.deepEqual(Object.keys(requests[1].body.document).sort(), ["blindSpotBorder", "blindSpotCamera", "canvas", "clock24Hour", "hidePersonalityAlerts", "largeUiGammaTrial", "leadIndicator", "leadInfo", "signalBorder", "speedAlign", "speedSources", "speedSourcesCard", "version", "wheelPedalFeedback", "widgets"])
 assert.equal(requests[1].body.document.widgets.current_speed.x, 1170)
+assert.equal(requests[1].body.document.speedAlign, "center")
 assert.equal(updates.at(-1).notice, "Android Auto layout saved.")
 feed.stop()
 console.log("Projection editor: isolated document, strict snapshot, routing confirmation, actual Vue template, endpoint and placement-only save passed")

openpilot/starpilot/galaxy/web/js/onroad-layout-document.js

@@ -105,9 +105,9 @@ export function previewPoint(event, rect, profile) {
   }
 }
 
-// Android Auto display switches, independent of the comma screen's preferences.
-// Text alignment inside the cruise and speed-limit card, matching onroad_customization.SPEED_ALIGNMENTS.
+// Legacy saved layouts retain this field even though the paired speed widget uses fixed alignment.
 export const SPEED_ALIGNMENTS = ["left", "center", "right"]
+// Android Auto display switches, independent of the comma screen's preferences.
 export const PROJECTION_DISPLAY_SWITCHES = ["blindSpotBorder", "signalBorder", "blindSpotCamera", "hidePersonalityAlerts", "wheelPedalFeedback", "leadIndicator"]
 
 export function validDocument(document, metadata) {

openpilot/starpilot/galaxy/web/js/onroad-layout-template.js

@@ -229,15 +229,6 @@ export const ONROAD_LAYOUT_TEMPLATE = `
                 <p v-if="selectedWidget.defaultAnchor === 'driver_side'" class="gx-note">The default position follows the driver’s side. A moved position stays where you place it.</p>
                 <p v-if="selectedWidget.note" class="gx-note">{{ selectedWidget.note }}</p>
                 <label v-if="selectedWidget.kind === 'clock'" class="gx-layout__clock-format"><input type="checkbox" :checked="!!state.draft.clock24Hour" :disabled="!editAvailable || !!state.drag || !!state.layerDrag" @change="setClock24Hour"> Use 24-hour time</label>
-                <div v-if="selectedWidget.kind === 'cruise_limits'" class="gx-layout__favorite-display">
-                  <span>Text alignment</span>
-                  <div class="gx-segment" role="group" aria-label="Cruise and speed limit text alignment">
-                    <button v-for="align in ['left', 'center', 'right']" :key="align" class="gx-btn" type="button"
-                      :class="(state.draft.speedAlign || 'left') === align ? 'gx-btn--primary' : 'gx-btn--tonal'"
-                      :aria-pressed="(state.draft.speedAlign || 'left') === align" :disabled="!editAvailable || !!state.drag || !!state.layerDrag"
-                      @click="setSpeedAlign(align)">{{ align === 'left' ? 'Left' : align === 'center' ? 'Center' : 'Right' }}</button>
-                  </div>
-                </div>
                 <GalaxySettingRow v-if="selectedWidget.kind === 'cruise_limits'" :row="switchRow('Show Speed-Limit Sources', state.draft.speedSources === true)" :index="0"
                   :disabled="!editAvailable || !!state.drag || !!state.layerDrag" :save-value="(index, value) => setSpeedSources('speedSources', value === 'On')" />
                 <GalaxySettingRow v-if="selectedWidget.kind === 'cruise_limits' && state.draft.speedSources === true" :row="switchRow('Show as Separate Card', state.draft.speedSourcesCard === true)" :index="1"

openpilot/starpilot/galaxy/web/js/onroad-layout.js

@@ -851,14 +851,6 @@ export const OnroadLayoutPage = {
       this.recordChange(before)
       this.state.notice = ""
     },
-    setSpeedAlign(align) {
-      if (!this.editable || this.state.drag || this.state.layerDrag || this.selectedWidget?.kind !== "cruise_limits" ||
-        !["left", "center", "right"].includes(align)) return
-      const before = clone(this.state.draft)
-      this.state.draft.speedAlign = align
-      this.recordChange(before)
-      this.state.notice = ""
-    },
     setLargeUiGammaTrial(value) {
       if (!this.projection || !this.editable || this.state.drag || this.state.layerDrag) return
       const before = clone(this.state.draft)

openpilot/starpilot/speed_limits/README.md

@@ -42,7 +42,8 @@ limit is qualified again.
 A qualified manual change to a different set speed marks an override, for increases
 and decreases. An X crosses the sign while override is active. Returning to the
 applied set speed clears it, using card's receipt to account for whole-unit rounding. Adopting
-a new limit also clears it. New-limit decisions continue during override.
+a new limit also clears it. Adoption retains the ordinary buttons' 0.1 km/h internal
+precision, including for mph targets. New-limit decisions continue during override.
 
 The accelerator temporarily allows higher vehicle speed without changing set speed
 or creating an SLC override. Adoption and confirmation can update software set
@@ -74,6 +75,8 @@ qualified planner presentation. A command receipt distinguishes application from
 limit acceptance. Rejected or expired commands may retry with current evidence
 while the accepted limit and expected set speed remain current, with no pending
 decision or manual override. Applied commands are not repeated.
+Declining or timing out a returned limit never revives an earlier adoption command;
+the historical adoption remains recorded independently of the new rejection.
 
 Transport changes append to reserved custom messages. `SlcState` appends automatic
 countdown metadata at ordinals 51–52 and latest-received display metadata at 53–55.

openpilot/starpilot/speed_limits/acceptance.py

@@ -144,6 +144,7 @@ class AdoptionProposal:
 class State:
   session_id: str
   observation: Observation = Observation(ObservationKind.ABSENT)
+  # A historical adoption may match a returned proposal the driver now declines.
   accepted: AcceptedLimit | None = None
   pending: PendingDecision | None = None
   rejected: frozenset[Candidate] = frozenset()
@@ -273,8 +274,6 @@ def _state_errors(state: State) -> list[str]:
                       all(_candidate_valid(c, state.session_id) for c in state.rejected))
   if not rejections_valid:
     errors.append("invalid rejection history")
-  elif state.accepted is not None and _accepted_valid(state.accepted) and state.accepted.candidate in state.rejected:
-    errors.append("accepted candidate is also rejected")
   if state.pending is not None:
     pending = state.pending
     if (not isinstance(pending, PendingDecision) or not _candidate_valid(pending.candidate) or
@@ -413,7 +412,7 @@ def step(state: State, observation: Observation, authority: Authority, policy: P
       adopt_receipt = replace(adopt_receipt, status="different_presentation")
     else:
       # Recorded for any authority; only an owner of longitudinal control commands a target.
-      state, history = _accept(replace(state, rejected=state.rejected - {candidate}), candidate, now_ns)
+      state, history = _accept(replace(state, rejected=frozenset(c for c in state.rejected if c.speed_mps != candidate.speed_mps)), candidate, now_ns)
       assert state.accepted is not None
       adopt_receipt = replace(adopt_receipt, consumed=True, status="adopt")
       if not authority.can_control:

openpilot/starpilot/speed_limits/runtime.py

@@ -430,7 +430,8 @@ class Runtime:
   def _command(self, result: comp.Result, sm, now_ns: int, old_pending,
                action: acc.DriverAction | None, adopt: acc.AdoptRequest | None):
     decision = result.acceptance
-    if (decision is None or decision.state.accepted is None or decision.state.pending is not None or decision.authority is None or
+    if (decision is None or decision.basis not in ('accepted', 'driver_accept', 'driver_adopt') or
+        decision.state.accepted is None or decision.state.pending is not None or decision.authority is None or
         not decision.authority.can_control or result.coordinate is None or
         result.domain is None or result.domain.context is None or result.selection is None or
         result.selection.observation.candidate is None or

openpilot/starpilot/speed_limits/tests/test_acceptance.py

@@ -423,17 +423,25 @@ class TestAcceptance(unittest.TestCase):
         self.assertIsNone(result.control_target_mps)
         self.assertIsNone(result.history_write)
 
-  def test_accepted_or_pending_candidate_cannot_also_be_rejected(self):
-    accepted_conflict = replace(saved(), rejected=frozenset({HIGH}))
-    pending_conflict = replace(self.pending().state, rejected=frozenset({LOW}))
-    for state in (accepted_conflict, pending_conflict):
-      with self.subTest(state=state):
-        result = step(state, valid(HIGH), ACTIVE, Policy(False, False, True), now_ns=NS)
-        self.assertTrue(result.errors)
-        self.assertIsNone(result.control_target_mps)
-        self.assertIsNone(result.history_write)
-        self.assertIs(result.state, state)
-        self.assertEqual(result.state.accepted.candidate, HIGH)
+  def test_pending_candidate_cannot_also_be_rejected(self):
+    state = replace(self.pending().state, rejected=frozenset({LOW}))
+    result = step(state, valid(HIGH), ACTIVE, Policy(False, False, True), now_ns=NS)
+    self.assertTrue(result.errors)
+    self.assertIsNone(result.control_target_mps)
+    self.assertIsNone(result.history_write)
+    self.assertIs(result.state, state)
+    self.assertEqual(result.state.accepted.candidate, HIGH)
+
+  def test_rejecting_a_returned_limit_preserves_its_earlier_accepted_history(self):
+    other = self.pending()
+    returned = self.pending(candidate=HIGH, state=other.state, now_ns=NS)
+    declined = self.act(returned.state, ActionKind.REJECT, now_ns=2 * NS)
+    held = step(declined.state, valid(HIGH), ACTIVE, Policy(), now_ns=3 * NS)
+    self.assertFalse(held.errors)
+    self.assertEqual(held.basis, 'rejected')
+    self.assertEqual(held.state.accepted, returned.state.accepted)
+    self.assertIn(HIGH, held.state.rejected)
+    self.assertIsNone(held.state.pending)
 
   def test_changed_limits_do_not_accumulate_obsolete_rejections(self):
     state = saved()
@@ -538,6 +546,18 @@ class TestAcceptance(unittest.TestCase):
       self.assertTrue(result.adoption.clear_override)
       self.assertEqual(result.adoption.reconciliation_speed_mps, HIGH.speed_mps)
 
+  def test_explicit_adopt_clears_same_speed_rejection_after_provider_change(self):
+    rejected = self.act(self.pending().state, ActionKind.REJECT)
+    refreshed = replace(LOW, source='map', observation_identity=geographic('refreshed'))
+    shown = step(rejected.state, valid(refreshed), ACTIVE, Policy(), now_ns=2 * NS)
+    adopted = step(shown.state, valid(refreshed), ACTIVE, Policy(), now_ns=3 * NS,
+                   adopt=self.adopt_request(shown.state, sequence=1))
+    self.assertTrue(adopted.adoption_receipt.consumed)
+    self.assertFalse(adopted.state.rejected)
+    held = step(adopted.state, valid(refreshed), ACTIVE, Policy(), now_ns=4 * NS)
+    self.assertFalse(held.errors)
+    self.assertEqual(held.basis, 'accepted')
+
   def test_adopt_precedes_confirmation_timeout(self):
     pending = self.pending()
     result = step(pending.state, valid(LOW), ACTIVE, Policy(), now_ns=CONFIRMATION_NS, adopt=self.adopt_request(pending.state))

openpilot/starpilot/speed_limits/tests/test_set_speed.py

@@ -7,6 +7,7 @@ import pytest
 
 from opendbc.car.dashboard_speed_limit import Status
 from opendbc.car.structs import car
+from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.controls.lib import longitudinal_planner as planner
 from openpilot.starpilot.speed_limits import acceptance as acc, physical_actions
@@ -95,6 +96,34 @@ def test_expired_adoption_does_not_retry_after_driver_or_authority_changes(drive
   assert tick(runtime, sm, cp, 3.2, **kwargs).command is None
 
 
+@pytest.mark.parametrize('failure', ['rejected', 'expired'])
+@pytest.mark.parametrize('response', ['reject', 'timeout'])
+def test_returned_limit_cannot_retry_an_older_adoption_after_decline(drive, failure, response):
+  sm, cp = drive
+  runtime = Runtime(parse({'SpeedLimitController': True, 'SLCPriority1': 'Dashboard', 'SLCConfirmation': True}))
+  pending = tick(runtime, sm, cp, 0).message.slcState
+  first = tick(runtime, sm, cp, 1, request=Action(runtime.session_id, 1, pending.decisionId, pending.presentationId, 'accept'))
+  command = first.command.slcCruiseCommand
+  sm['slcDashboardObservation'].speedMps = 20.
+  receipt = command_receipt(runtime, command, 1.05, 60., 60., applied=False) if failure == 'rejected' else None
+  tick(runtime, sm, cp, 1.05, cruise_event=receipt)
+  sm['slcDashboardObservation'].speedMps = 25.
+  pending = tick(runtime, sm, cp, 4).message.slcState
+  action = Action(runtime.session_id, 2, pending.decisionId, pending.presentationId, 'reject') if response == 'reject' else None
+  seconds = 5 if action else 14
+  declined = tick(runtime, sm, cp, seconds, request=action)
+  assert declined.result.acceptance.basis == ('driver_reject' if action else 'timeout_reject')
+  assert declined.command is None
+  held = tick(runtime, sm, cp, seconds + .1)
+  assert not held.result.errors and not runtime.state.reset_required and held.command is None
+  assert sm['carState'].vCruise == 60.
+  # An explicit later adoption remains available after declining the new decision.
+  current = declined.message.slcState
+  readopted = tick(runtime, sm, cp, seconds + .2,
+    request=Action(runtime.session_id, 3, 0, current.presentationId, 'adopt'))
+  assert readopted.command is not None and readopted.command.slcCruiseCommand.targetMps == 25.
+
+
 @pytest.mark.parametrize('limit,offset,bounded', [(140., 10., 145.), (10., -5., 8.)])
 @pytest.mark.parametrize('metric', [False, True])
 def test_adoption_and_display_use_existing_cruise_bounds(drive, limit, offset, bounded, metric):
@@ -120,30 +149,37 @@ def test_adoption_and_display_use_existing_cruise_bounds(drive, limit, offset, b
   assert 8 <= helper.v_cruise_kph <= 145
 
 
-def test_manual_override_compares_against_the_applied_rounded_set_speed(drive):
+@pytest.mark.parametrize('metric,display', [(True, 72), (False, 55), (False, 60), (False, 65), (False, 70)])
+@pytest.mark.parametrize('direction', [-1, 1])
+def test_manual_override_compares_against_the_applied_rounded_set_speed(drive, metric, display, direction):
   sm, cp = drive
   cp.pcmCruise = False
-  sm['slcDashboardObservation'].speedMps = 45 * .44704
-  runtime = Runtime(parse({'SpeedLimitController': True, 'SLCPriority1': 'Dashboard', 'IsMetric': True}))
+  sm['slcDashboardObservation'].speedMps = 45 * CV.MPH_TO_MS if metric else display * CV.MPH_TO_MS
+  runtime = Runtime(parse({'SpeedLimitController': True, 'SLCPriority1': 'Dashboard', 'IsMetric': metric}))
   tick(runtime, sm, cp, 0)
   adopted = tick(runtime, sm, cp, 3)
   helper = VCruiseHelper(cp)
-  helper.apply_slc_target(adopted.command.slcCruiseCommand.targetMps, True)
-  assert helper.v_cruise_kph == 72.
-  sm['carState'].vCruise = sm['carState'].vCruiseCluster = 72.
-  tick(runtime, sm, cp, 3.05, cruise_event=command_receipt(runtime, adopted.command.slcCruiseCommand, 3.05, 60., 72.))
-  for event_id, (previous, chosen) in enumerate(((72., 73.), (73., 74.), (74., 73.), (73., 72.)), 2):
-    helper.adjust_v_cruise(car.CarState.ButtonEvent.Type.accelCruise if chosen > previous else
-                          car.CarState.ButtonEvent.Type.decelCruise, sm['carState'], True)
-    assert helper.v_cruise_kph == chosen
+  helper.apply_slc_target(adopted.command.slcCruiseCommand.targetMps, metric)
+  baseline = helper.v_cruise_kph
+  conversion = 1 if metric else CV.KPH_TO_MPH
+  assert round(baseline * conversion) == display
+  sm['carState'].vCruise = sm['carState'].vCruiseCluster = baseline
+  tick(runtime, sm, cp, 3.05, cruise_event=command_receipt(runtime, adopted.command.slcCruiseCommand, 3.05, 60., baseline))
+  for event_id, (step, distance) in enumerate(zip((direction, direction, -direction, -direction), (1, 2, 1, 0), strict=True), 2):
+    previous = float(helper.v_cruise_kph)
+    helper.adjust_v_cruise(car.CarState.ButtonEvent.Type.accelCruise if step > 0 else
+                          car.CarState.ButtonEvent.Type.decelCruise, sm['carState'], metric)
+    chosen = float(helper.v_cruise_kph)
+    assert round(chosen * conversion) == display + direction * distance
     sm['carState'].vCruise = sm['carState'].vCruiseCluster = chosen
     seconds = 3.05 + event_id * .05
     stamp = START + round(seconds * 1e9)
     output = tick(runtime, sm, cp, seconds, cruise_event=CruiseEvent(event_id, stamp, previous / 3.6,
       chosen / 3.6, 'accel' if chosen > previous else 'decel', 'card-producer', stamp))
     assert output.result.override.event_receipt.consumed
-    assert output.message.slcState.driverOverrideActive == (chosen != 72.)
+    assert output.message.slcState.driverOverrideActive == (distance != 0)
     assert output.command is None
+  assert helper.v_cruise_kph == pytest.approx(baseline, abs=1e-6)
 
 
 @pytest.mark.parametrize('fallback', [0, 2])
@@ -289,6 +325,53 @@ def test_pcm_software_set_speed_survives_native_speed_and_consumes_confirmation(
   assert helper.v_cruise_kph == pytest.approx(59.)
 
 
+@pytest.mark.parametrize('pending', [False, True])
+@pytest.mark.parametrize('signal,direction,normal_speed', [
+  ('CcAslButtnSetIncPress', 'accel', 61.), ('CcAslButtnSetDecPress', 'decel', 59.),
+])
+def test_ford_parser_buttons_adjust_set_speed_or_confirm_without_a_second_step(pending, signal, direction, normal_speed):
+  from opendbc.can import CANPacker
+  from opendbc.car import Bus, gen_empty_fingerprint
+  from opendbc.car.ford.carstate import CarState
+  from opendbc.car.ford.interface import CarInterface
+  from opendbc.car.ford.values import CAR, DBC
+  from openpilot.selfdrive.car.cruise import CRUISE_LONG_PRESS, SlcPendingConfirmation
+
+  cp = CarInterface.get_params(CAR.FORD_ESCAPE_MK4, gen_empty_fingerprint(), [], True, False, False)
+  source = CarState(cp)
+  parsers = source.get_can_parsers(cp)
+  packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
+  helper = VCruiseHelper(cp)
+  choice = SlcPendingConfirmation('drive', 1, 1) if pending else None
+  now_ns = START
+
+  def frame(pressed, decision=None):
+    nonlocal now_ns
+    parsers[Bus.pt].update([(now_ns, [
+      packer.make_can_msg('Steering_Data_FD1', parsers[Bus.pt].bus, {signal: pressed}),
+      packer.make_can_msg('EngBrakeData', parsers[Bus.pt].bus, {'CcStat_D_Actl': 4, 'Veh_V_DsplyCcSet': 60}),
+    ])])
+    now_ns += 10_000_000
+    helper.update_v_cruise(source.update(parsers), True, True, decision, slc_enabled=True)
+
+  for _ in range(3):
+    frame(0)
+  helper.apply_slc_target(60. / 3.6, True)
+  frame(1, choice)
+  consumed = helper.slc_consumed_button
+  assert (consumed is not None) == pending
+  if pending:
+    assert consumed.pending == choice and consumed.button == direction
+    if direction == 'accel':
+      helper.apply_slc_target(25., True)
+    for _ in range(CRUISE_LONG_PRESS + 1):
+      frame(1)
+      assert helper.slc_consumed_button is None and helper.slc_cruise_change is None
+  frame(0)
+  assert helper.v_cruise_kph == (90. if pending and direction == 'accel' else 60. if pending else normal_speed)
+  assert (helper.slc_cruise_change is None) == pending
+
+
 def test_automatic_countdown_never_consumes_plus_or_minus_and_late_accept_is_declined():
   candidate = acc.Candidate('dashboard', acc.ObservationIdentity(acc.IdentityKind.SESSION_VALUE, session_id='drive'), 20.)
   observation = acc.Observation(acc.ObservationKind.VALID, candidate)

openpilot/starpilot/ui/onroad_customization.py

@@ -14,7 +14,7 @@ from openpilot.starpilot.ui.large_speed_geometry import (WIDTH, CARD_HEIGHT, ACT
 
 PARAM_KEY = "OnroadCustomizations"
 MAX_BYTES = 16384
-# Text alignment inside the cruise and speed-limit card; left is the original look.
+# Legacy saved layouts retain this field even though the paired speed widget uses fixed alignment.
 SPEED_ALIGNMENTS = ("left", "center", "right")
 PALETTE = {"cardFill": "#000000A6", "cardBorder": "#C4CDD0B4", "text": "#FFFFFFFF"}
 ROAD_COLORS = {"path": "#30FF9CFF", "pathEdge": "#00FF40FF", "laneLines": "#FFFFFFFF"}