Preserve Ford lateral intent across separate brake status receipts

openpilot/starpilot/aol/transport_pause.py

@@ -394,7 +394,15 @@ class TransportPauseFeedback:
           for event in sm['onroadEvents'])):
       return None
     native = independent_lateral_health(sm, cp, cs, self.session, now_ns)
-    if (native is None or not native.pandaInventory or not native.requestedLongitudinal or native.longitudinalAllowed or
+    # Separate health may report brake withdrawal before the matching axis status.
+    # Retain only the existing LAT intent; LONG still follows its physical pedal.
+    ford_brake_health = bool(ford_withdrawal and cs.brakePressed and not cs.gasPressed and
+      native is not None and native.sourcePandaStatesMonoTime > 0 and
+      native.sourcePandaStatesMonoTime < int(sm.logMonoTime['pandaStates']) and
+      all(not slot.controlsAllowed for slot, config in zip(sm['pandaStates'], cp.safetyConfigs, strict=True)
+          if str(config.safetyModel) not in ('silent', 'noOutput')))
+    if (native is None or not native.pandaInventory or not native.requestedLongitudinal or
+        native.longitudinalAllowed and not ford_brake_health or
         native.observedMonoTime < self.lateral_native_ns or
         (native.pandaSerial, tuple(slot.hardwareSerial for slot in native.pandaInventory)) != self.lateral_inventory):
       return None

openpilot/starpilot/tests/ford_lifecycle_helpers.py

@@ -204,6 +204,7 @@ def run_actual_producer(ford_joined, monkeypatch, *, scenario='reverse', reengag
   now = [10_000_000_000]
   queued, published, previous_sd = [], {}, {}
   delayed_native = {}
+  pending_native_wire = {}
   source_gap_messages = {}
   source_gap_active = [False]
   steps = start_tick = native.tick
@@ -448,7 +449,15 @@ def run_actual_producer(ford_joined, monkeypatch, *, scenario='reverse', reengag
         # Match pandad's 10Hz native publication, including a pedal-first USB read.
         # Values are actual native results; retained messages keep their stamps.
         if getattr(monkeypatch, 'ford_native_10hz', False):
-          if not delayed_native or steps % 10 == 0 or (brake or cancel) and not permission & 2 and delayed_native.get('permission', 3) & 2:
+          if getattr(monkeypatch, 'ford_native_health_first', False):
+            if not delayed_native:
+              delayed_native.update(wire=wire.as_reader(), panda=panda.as_reader(), permission=permission)
+            elif steps % 10 == 0:
+              pending_native_wire.update(wire=wire.as_reader())
+              delayed_native.update(panda=panda.as_reader(), permission=permission)
+            elif steps % 10 == 1 and pending_native_wire:
+              delayed_native.update(wire=pending_native_wire.pop('wire'))
+          elif not delayed_native or steps % 10 == 0 or (brake or cancel) and not permission & 2 and delayed_native.get('permission', 3) & 2:
             delayed_native.update(wire=wire.as_reader(), panda=panda.as_reader(), permission=permission)
           wire_message, panda_message = delayed_native['wire'], delayed_native['panda']
         else:
@@ -1078,6 +1087,9 @@ def run_actual_producer(ford_joined, monkeypatch, *, scenario='reverse', reengag
       if scenario == 'brake-native-cadence':
         for _ in range(41):
           state, axis, sd_state, command = step(engaged=True)
+        if hasattr(monkeypatch, 'ford_brake_phase'):
+          while steps % 10 != monkeypatch.ford_brake_phase:
+            state, axis, sd_state, command = step(engaged=True)
         assert command.latActive and command.longActive and host.aol_card_intent.allowed_latch
         if getattr(monkeypatch, 'ford_standstill_brake', False):
           for slowing_tick in range(300):

openpilot/starpilot/tests/test_ford_standstill_brake.py

@@ -5,6 +5,11 @@ from openpilot.starpilot.tests.ford_lifecycle_helpers import FORD_FACTORIES, for
 @pytest.fixture(autouse=True)
 def configuration(monkeypatch, request):
   monkeypatch.ford_topology = request.node.callspec.params['topology']
+  mode = request.node.callspec.params.get('mode')
+  if mode is not None:
+    monkeypatch.ford_angle = mode != 'curvature'
+    monkeypatch.ford_starpilot = mode == 'starpilot'
+    monkeypatch.ford_pinion = True
 
 
 @pytest.mark.parametrize('identity', [FORD_FACTORIES[11]])
@@ -16,3 +21,14 @@ def test_native_first_brake_while_already_stopped(ford_joined, monkeypatch, topo
   monkeypatch.ford_native_first_pedal = True
   monkeypatch.ford_native_10hz = True
   run_actual_producer(ford_joined, monkeypatch, scenario='brake-native-cadence')
+
+
+@pytest.mark.parametrize('identity', [FORD_FACTORIES[11]])
+@pytest.mark.parametrize('alpha,hands_free,topology', [(True, True, 'automatic')])
+@pytest.mark.parametrize('mode', ['angle', 'curvature', 'starpilot'])
+@pytest.mark.parametrize('phase', range(10))
+def test_brake_retains_lateral_with_health_before_native_axis_status(ford_joined, monkeypatch, mode, phase, topology):
+  monkeypatch.ford_native_10hz = True
+  monkeypatch.ford_native_health_first = True
+  monkeypatch.ford_brake_phase = phase
+  run_actual_producer(ford_joined, monkeypatch, scenario='brake-native-cadence')

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "4a6d1ae614b9a07311e0e5f7565ea677ca19303cfc64d7557523499b56279f52", "schema_version": 1}
+{"protected_inventory_sha256": "803e3f48381fb605404075f5d247a5830c23bd3ccf6abf12ec3aadd420608976", "schema_version": 1}