From 6370abd73a16d507a249f6596c734b0e765ec346 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Fri, 24 Jul 2026 12:46:29 -0500
Subject: [PATCH] G90

---
 starpilot/controls/starpilot_card.py          |  5 +-
 .../controls/tests/test_starpilot_card.py     | 62 +++++++++++++++++++
 2 files changed, 66 insertions(+), 1 deletion(-)

diff --git a/starpilot/controls/starpilot_card.py b/starpilot/controls/starpilot_card.py
index 5a2678582..7ebd93414 100644
--- a/starpilot/controls/starpilot_card.py
+++ b/starpilot/controls/starpilot_card.py
@@ -40,8 +40,11 @@ class StarPilotCard:
       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)
     )
+    hyundai_aol_before_engagement = kia_forte_non_scc or getattr(self.CP, "carFingerprint", None) == HYUNDAI_CAR.GENESIS_G90
     self.hyundai_preserve_aol_across_reverse = getattr(self.CP, "carFingerprint", None) == HYUNDAI_CAR.HYUNDAI_SONATA_HYBRID
-    self.hyundai_aol_needs_engagement = self.CP.brand == "hyundai" and not (hyundai_flags & HyundaiFlags.CANFD) and not kia_forte_non_scc
+    self.hyundai_aol_needs_engagement = (
+      self.CP.brand == "hyundai" and not (hyundai_flags & HyundaiFlags.CANFD) and not hyundai_aol_before_engagement
+    )
     self.hyundai_aol_ready = False
     self.main_cruise_aol_pending = False
     self.main_cruise_aol_pending_frames = 0
diff --git a/starpilot/controls/tests/test_starpilot_card.py b/starpilot/controls/tests/test_starpilot_card.py
index 8b5ce9b49..b8048f208 100644
--- a/starpilot/controls/tests/test_starpilot_card.py
+++ b/starpilot/controls/tests/test_starpilot_card.py
@@ -219,6 +219,41 @@ def test_hyundai_aol_does_not_auto_start_from_cruise_availability(monkeypatch, t
   assert ret.alwaysOnLateralEnabled is False
 
 
+def test_genesis_g90_main_aol_can_start_before_set(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.GENESIS_G90),
+    SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
+  )
+
+  ret = card.update(make_car_state(available=True), SimpleNamespace(distancePressed=False), make_sm(),
+                    make_toggles(always_on_lateral=True, always_on_lateral_main=True))
+
+  assert card.hyundai_aol_needs_engagement is False
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.alwaysOnLateralEnabled is True
+
+
+def test_other_legacy_hyundai_main_aol_still_waits_for_set(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.GENESIS_G80),
+    SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
+  )
+
+  ret = card.update(make_car_state(available=True), SimpleNamespace(distancePressed=False), make_sm(),
+                    make_toggles(always_on_lateral=True, always_on_lateral_main=True))
+
+  assert card.hyundai_aol_needs_engagement is True
+  assert ret.alwaysOnLateralEnabled is False
+
+
 def test_nissan_main_aol_can_start_before_normal_engagement(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
   monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
@@ -313,6 +348,33 @@ def test_kia_forte_non_scc_main_cruise_button_waits_for_main_confirmation(monkey
   assert ret.alwaysOnLateralEnabled is True
 
 
+def test_genesis_g90_main_cruise_button_waits_for_main_confirmation(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.GENESIS_G90),
+    SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
+  )
+
+  car_state = make_car_state(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)
+
+  card.update(make_car_state(), starpilot_car_state, sm, toggles)
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+  assert ret.alwaysOnLateralAllowed is False
+  assert ret.alwaysOnLateralEnabled is False
+
+  car_state.buttonEvents = []
+  car_state.cruiseState.available = 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_follows_confirmed_main_state(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
   monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)