aol

opendbc_repo/opendbc/safety/modes/hyundai_common.h

@@ -199,7 +199,6 @@ void hyundai_common_acc_main_on_sync(void) {
 
     if (acc_main_on_mismatches >= 3U) {
       acc_main_on = false;
-      lkas_on = false;
     }
   } else {
     acc_main_on_mismatches = 0U;

opendbc_repo/opendbc/safety/modes/nissan.h

@@ -4,6 +4,12 @@
 
 static bool nissan_alt_eps = false;
 
+static void nissan_rx_all_hook(const CANPacket_t *msg) {
+  if ((msg->addr == 0x1B6U) && (msg->bus == (nissan_alt_eps ? 2U : 1U))) {
+    acc_main_on = GET_BIT(msg, 36U);
+  }
+}
+
 static void nissan_rx_hook(const CANPacket_t *msg) {
 
   if (msg->bus == (nissan_alt_eps ? 1U : 0U)) {
@@ -51,10 +57,6 @@ static void nissan_rx_hook(const CANPacket_t *msg) {
     pcm_cruise_check(cruise_engaged);
   }
 
-  if ((msg->addr == 0x1B6U) && (msg->bus == (nissan_alt_eps ? 2U : 1U))) {
-    acc_main_on = GET_BIT(msg, 36U);
-  }
-
   if ((msg->addr == 0x239U) && (msg->bus == 0U)) {
     acc_main_on = GET_BIT(msg, 17U);
   }
@@ -140,6 +142,7 @@ static safety_config nissan_init(uint16_t param) {
 
 const safety_hooks nissan_hooks = {
   .init = nissan_init,
+  .rx_all = nissan_rx_all_hook,
   .rx = nissan_rx_hook,
   .tx = nissan_tx_hook,
 };

opendbc_repo/opendbc/safety/tests/hyundai_common.py

@@ -208,6 +208,28 @@ class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest):
 
 
 class HyundaiAolLkasOnEngageBase:
+  def test_acc_main_sync_does_not_clear_aol_lkas_latch(self):
+    try:
+      tx_acc_state_msg = self._tx_acc_state_msg(False)
+    except NotImplementedError as err:
+      raise unittest.SkipTest("ACC main TX state message not implemented") from err
+
+    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
+
+    self._rx(self._button_msg(Buttons.NONE, main_button=0))
+    self._rx(self._button_msg(Buttons.NONE, main_button=1))
+    self._rx(self._button_msg(Buttons.NONE, main_button=0))
+    self._rx(self._button_msg(Buttons.SET))
+    self._rx(self._button_msg(Buttons.NONE))
+
+    self.safety.set_controls_allowed(False)
+    for _ in range(3):
+      self._tx(tx_acc_state_msg)
+    self.assertFalse(self.safety.get_acc_main_on())
+
+    self._set_prev_torque(0)
+    self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP)))
+
   def test_aol_lkas_auto_enables_on_set_engagement(self):
     torque_cmd = self.MAX_RATE_UP
 

opendbc_repo/opendbc/safety/tests/test_nissan.py

@@ -3,6 +3,7 @@ import unittest
 
 from opendbc.car.nissan.values import NissanSafetyFlags
 from opendbc.car.structs import CarParams
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
 from opendbc.safety.tests.common import CANPackerSafety
@@ -17,6 +18,7 @@ class TestNissanSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):
 
   EPS_BUS = 0
   CRUISE_BUS = 2
+  PRO_PILOT_BUS = 1
 
   # Angle control limits
   STEER_ANGLE_MAX = 600  # deg, reasonable limit
@@ -82,7 +84,21 @@ class TestNissanSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):
   def _toggle_aol(self, toggle_on):
     # PRO_PILOT, CRUISE_ON is the main on button for X-Trail/Rogue/Altima
     values = {"CRUISE_ON": 1 if toggle_on else 0}
-    return self.packer.make_can_msg_panda("PRO_PILOT", 2, values)
+    return self.packer.make_can_msg_panda("PRO_PILOT", self.PRO_PILOT_BUS, values)
+
+  def test_aol_remains_allowed_after_cruise_cancel(self):
+    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
+    self._rx(self._toggle_aol(True))
+    self._rx(self._pcm_status_msg(True))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+    self._rx(self._pcm_status_msg(False))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+    self._reset_angle_measurement(0)
+    self._reset_speed_measurement(1)
+    self._set_prev_desired_angle(0)
+    self.assertTrue(self._tx(self._angle_cmd_msg(angle=self.ANGLE_RATE_UP[0] / 2.0, enabled=True)))
 
 
 class TestNissanSafetyAltEpsBus(TestNissanSafety):
@@ -90,6 +106,7 @@ class TestNissanSafetyAltEpsBus(TestNissanSafety):
 
   EPS_BUS = 1
   CRUISE_BUS = 1
+  PRO_PILOT_BUS = 2
 
   def setUp(self):
     self.packer = CANPackerSafety("nissan_x_trail_2017_generated")

starpilot/controls/starpilot_card.py

@@ -40,10 +40,6 @@ class StarPilotCard:
     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_ready = False
-    # Nissan's angle-control EPS can fault if AOL starts while the wheel is at a
-    # large parking angle. Require one normal openpilot engagement before AOL.
-    self.nissan_aol_needs_engagement = self.CP.brand == "nissan"
-    self.nissan_aol_ready = False
     self.prev_active = False
     self.prev_cruise_enabled = False
     self.decel_pressed = False
@@ -130,13 +126,6 @@ class StarPilotCard:
       elif sm["selfdriveState"].active or carState.cruiseState.enabled:
         self.hyundai_aol_ready = True
 
-    if self.nissan_aol_needs_engagement:
-      if carState.gearShifter in NON_DRIVING_GEARS:
-        self.nissan_aol_ready = False
-        self.always_on_lateral_allowed = False
-      elif sm["selfdriveState"].active:
-        self.nissan_aol_ready = True
-
     if button_aol_supported:
       for be, be_type in zip(carState.buttonEvents, button_event_types, strict=False):
         if be_type == ButtonType.lkas and be.pressed and starpilot_toggles.always_on_lateral_lkas:
@@ -178,7 +167,6 @@ class StarPilotCard:
     self.always_on_lateral_enabled = self.always_on_lateral_allowed and self.always_on_lateral_set
     self.always_on_lateral_enabled &= carState.gearShifter not in NON_DRIVING_GEARS
     self.always_on_lateral_enabled &= not self.hyundai_aol_needs_engagement or self.hyundai_aol_ready
-    self.always_on_lateral_enabled &= not self.nissan_aol_needs_engagement or self.nissan_aol_ready
     self.always_on_lateral_enabled &= sm["starpilotPlan"].lateralCheck
     self.always_on_lateral_enabled &= sm["liveCalibration"].calPerc >= 1
     alert_types = sm["selfdriveState"].alertType + sm["starpilotSelfdriveState"].alertType

starpilot/controls/tests/test_starpilot_card.py

@@ -215,7 +215,7 @@ def test_hyundai_aol_does_not_auto_start_from_cruise_availability(monkeypatch, t
   assert ret.alwaysOnLateralEnabled is False
 
 
-def test_nissan_aol_requires_normal_engagement(monkeypatch, tmp_path):
+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)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
@@ -224,53 +224,13 @@ def test_nissan_aol_requires_normal_engagement(monkeypatch, tmp_path):
     SimpleNamespace(brand="nissan"),
     SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
   )
-  assert card.nissan_aol_needs_engagement is True
-  assert card.nissan_aol_ready is False
-  starpilot_car_state = SimpleNamespace(distancePressed=False)
-  sm = make_sm()
-  toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True, lkas_allowed_for_aol=True)
-  car_state = make_car_state(available=True, button_events=[SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)])
 
-  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+  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 ret.alwaysOnLateralAllowed is True
-  assert ret.alwaysOnLateralEnabled is False
-
-  sm["selfdriveState"].active = True
-  ret = card.update(make_car_state(available=True, enabled=True), starpilot_car_state, sm, toggles)
   assert ret.alwaysOnLateralEnabled is True
 
-  sm["selfdriveState"].active = False
-  ret = card.update(make_car_state(available=True), starpilot_car_state, sm, toggles)
-  assert ret.alwaysOnLateralEnabled is True
-
-
-def test_nissan_aol_engagement_latch_resets_out_of_drive(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="nissan"),
-    SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
-  )
-  starpilot_car_state = SimpleNamespace(distancePressed=False)
-  sm = make_sm()
-  sm["selfdriveState"].active = True
-  toggles = make_toggles(always_on_lateral=True, always_on_lateral_main=True)
-
-  ret = card.update(make_car_state(available=True, enabled=True), starpilot_car_state, sm, toggles)
-  assert ret.alwaysOnLateralEnabled is True
-
-  sm["selfdriveState"].active = False
-  park_state = make_car_state(available=True)
-  park_state.gearShifter = spc.GearShifter.park
-  ret = card.update(park_state, starpilot_car_state, sm, toggles)
-  assert ret.alwaysOnLateralEnabled is False
-  assert card.nissan_aol_ready is False
-
-  ret = card.update(make_car_state(available=True), starpilot_car_state, sm, toggles)
-  assert ret.alwaysOnLateralEnabled is False
-
 
 def test_hyundai_canfd_lkas_button_can_toggle_aol_before_engagement(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)