Resume AOL Latch Upon Exit

openpilot/starpilot/aol/runtime.py

@@ -161,12 +161,13 @@ def current_native(sm, CP, *, now_ns: int, axis_session_id: str | None = None):
 
 
 def known_reverse_pause(car_state, samples=()) -> bool:
+  """Include the known Neutral transition into and out of Reverse."""
   states = [car_state, *(state for state, _ in samples)]
   gears = car.CarState.GearShifter
   return bool(all(valid for _, valid in samples) and
-              any(state.gearShifter == gears.reverse for state in states) and
+              any(state.gearShifter in (gears.neutral, gears.reverse) for state in states) and
               all(state.canValid and not state.canTimeout and state.gearShifter in
-                  (gears.drive, gears.low, gears.sport, gears.brake, gears.reverse) for state in states))
+                  (gears.drive, gears.low, gears.sport, gears.brake, gears.neutral, gears.reverse) for state in states))
 
 
 def decide_axes(*, standard_lateral: bool, standard_longitudinal: bool, intent,

openpilot/starpilot/aol/tests/test_carstate_queue.py

@@ -119,8 +119,8 @@ def test_queue_reorder_bound_and_pair_loss_still_withdraw(failure):
         assert axis.sourceCarStateMonoTime == 0 and not sd.conditional_car_state_valid
 
 
-@pytest.mark.parametrize('first_gear,valid,retained', [('reverse', True, True), ('unknown', True, False),
-                                                    ('reverse', False, False), ('eco', True, False)])
+@pytest.mark.parametrize('first_gear,valid,retained', [('reverse', True, True), ('neutral', True, True), ('park', True, False), ('unknown', True, False),
+                                                    ('reverse', False, False), ('neutral', False, False), ('eco', True, False)])
 def test_reverse_queue_pause_requires_known_valid_gears(first_gear, valid, retained):
   from openpilot.starpilot.aol.runtime import known_reverse_pause
   first, last = fixture.car_state(), fixture.car_state()

openpilot/starpilot/aol/tests/test_ioniq_availability.py

@@ -660,3 +660,37 @@ class IoniqAvailabilityTests(unittest.TestCase):
         self.assertFalse(receive(10_030_000_000, axis=sd.pm.messages['aolAxisState'],
                                  event=sd.pm.messages['onroadEvents'], state=observed))
         self.assertFalse(card.aol_card_intent.allowed_latch)
+
+  def test_neutral_reverse_neutral_drive_preserves_actual_card_latch(self):
+    from openpilot.starpilot.aol.wire import decode_intent
+
+    with OpenpilotPrefix():
+      sd, _, step, card, receive = self._ioniq_availability_callers()
+      card.pm = type(sd.pm)()
+      card.aol_sequence = 2
+      gears = ['neutral'] * 3 + ['reverse'] * 40 + ['neutral'] * 3 + ['drive'] * 4
+      for tick, gear in enumerate(gears, 2):
+        cs = car_state(brake=True)
+        cs.gearShifter = gear
+        now = 10_000_000_000 + tick * 10_000_000
+        original_message = messaging.new_message
+        def current_message(*args, _original=original_message, _now=now, **kwargs):
+          message = _original(*args, **kwargs)
+          message.logMonoTime = _now
+          return message
+        with mock.patch('openpilot.selfdrive.car.card.messaging.new_message', side_effect=current_message):
+          card.state_publish(cs, None)
+        intent_message = card.pm.messages['aolIntentWire'].as_builder()
+        intent = decode_intent(bytes(intent_message.aolIntentWire))
+        self.assertTrue(intent.lateralArmed)
+        requested = gear == 'drive'
+        axis, state, command = step(tick, observed_state=cs, intent_message=intent_message,
+                                    native_request_lat=requested, allowed=requested, native_request_long=False)
+        if gear != 'drive':
+          self.assertFalse(axis.desiredLateral or axis.lateralActive or command.latActive)
+        self.assertFalse(axis.longitudinalActive or command.longActive)
+        self.assertEqual(str(axis.faultReason), 'none')
+        self.assertTrue(receive(now, state=cs, axis=sd.pm.messages['aolAxisState'],
+                                event=sd.pm.messages['onroadEvents']))
+      self.assertTrue(axis.lateralActive and command.latActive)
+      self.assertFalse(state.enabled or state.active)

panda/board/obj/gitversion.h

@@ -1,4 +1,4 @@
 #pragma once
 
 extern const uint8_t gitversion[29];
-const uint8_t gitversion[29] = "DEV-eb151c76-P92eb5651-DEBUG";
+const uint8_t gitversion[29] = "DEV-fab8b79c-P92eb5651-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-eb151c76-P92eb5651-DEBUG
+DEV-fab8b79c-P92eb5651-DEBUG

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "4303ba5948f7926d28d165289350db695927a393280d474174ee563a81c5a5a0", "schema_version": 1}
+{"protected_inventory_sha256": "beb5e91a18ef4e35ce04a9e768ee0e45704e08218aabd4e88d26ad45100dce33", "schema_version": 1}