Merge qualified shared source

openpilot/starpilot/ui/controller_feature.py

@@ -141,12 +141,12 @@ class ControllerFeature:
       any(raw not in (journal['prior'][key], journal['prepared'][key]) for key, raw in (sources or {}).items()))
     return FeatureRow(SETUP_ACTION, 'Prep My Vehicle for Tuning', 'On' if active else 'Off',
                       journal_raw, choices=('Off', 'On'), default_value='Off',
-                      available=valid and readable and journal is not False and not conflict and
+                      available=(active or valid and not conflict) and sources is not None and readable and journal is not False and
                                 self.authority('parked_preferences') and self.authority('preferences'),
                       reason=('Enable before recording a route for a tuning request on the StarPilot Discord. ' +
                               'Turn off to restore your previous tune.' if not conflict and (not active or complete) else
                               'Preparation was interrupted. Turn off to restore your previous tune.' if not conflict else
-                              'Settings changed during preparation; your saved tune has been kept.'),
+                              'Turn off to restore previous settings while keeping changes made after preparation.'),
                       capability=capability, dependencies=tuple((key, raw) for key, raw in (sources or {}).items()))
 
   def apply_setup(self, request: FeatureSettingsRequest) -> bool:
@@ -159,7 +159,7 @@ class ControllerFeature:
     CP = self.vehicle_params()
     sources = dict(row.dependencies)
     try:
-      desired = self._setup_values(CP, sources)
+      desired = self._setup_values(CP, sources) if request.value == 'On' else {}
     except (ValueError, TypeError, UnicodeError, OverflowError):
       return False
     capability = row.capability

openpilot/starpilot/ui/tests/test_lateral_setup.py

@@ -77,6 +77,37 @@ class TestLateralSetup(unittest.TestCase):
     lane = LaneChangePolicy(False, 1.0, True, True, 3.0, 3.0, True, 0.9)
     self.params.put(LANE_KEY, to_value(lane), block=True)
 
+  def test_active_prep_can_turn_off_after_user_edits_without_overwriting_them(self):
+    self.seed()
+    prior = {key: Path(self.params.get_param_path(key)).read_bytes()
+             if Path(self.params.get_param_path(key)).exists() else None for key in controller_keys()}
+    self.assertTrue(self.owner.apply(self.request()))
+    changed = {'LaneCenterOffset': b'0.37', LANE_KEY: b'broken'}
+    for key, value in changed.items():
+      Path(self.params.get_param_path(key)).write_bytes(value)
+    self.assertEqual(self.row().value, 'On')
+    self.assertTrue(self.row().available)
+    self.assertTrue(self.owner.apply(self.request('Off')))
+    self.assertIsNone(self.params.get(preparation.KEY))
+    for key, value in prior.items():
+      path = Path(self.params.get_param_path(key))
+      self.assertEqual(path.read_bytes() if path.exists() else None, changed.get(key, value))
+
+  def test_galaxy_active_prep_can_turn_off_after_new_lane_preference(self):
+    self.seed()
+    self.assertTrue(self.owner.apply(self.request()))
+    self.params.put('LaneCenterOffset', 0.37, block=True)
+    current = SimpleNamespace(parked=True, cp=self.cp, raw=b'current-cp')
+    gateway = SettingsGateway(self.params, Mock(spec=ContextSource, sample=lambda: AuthorityContext(current.parked, current.cp, current.raw)),
+                              clock=lambda: 10)
+    page = gateway.page('torque', 'session', b'generation')
+    index = next(i for i, row in enumerate(page['rows']) if row['label'] == 'Prep My Vehicle for Tuning')
+    intent = gateway.preview(page['view'], index, 0, 'session', b'generation')
+    self.assertEqual(intent['proposed'], 'Off')
+    self.assertTrue(gateway.confirm(intent['intent'], 'session', b'generation'))
+    self.assertEqual(Path(self.params.get_param_path('LaneCenterOffset')).read_bytes(), b'0.37')
+    self.assertIsNone(self.params.get(preparation.KEY))
+
   def test_preparation_journals_scoped_choice_and_restores_other_vehicles_exactly(self):
     self.seed()
     other = cp_for(TOYOTA.TOYOTA_COROLLA_TSS2)

openpilot/starpilot/ui/tuning_preparation.py

@@ -79,15 +79,19 @@ def transition(params, vehicle, sources, desired, journal_raw, enabled, authoriz
       if journal['vehicle'] != vehicle:
         return False
       for key, current in sources.items():
-        if current not in (journal['prior'][key], journal['prepared'][key]):
+        if enabled and current not in (journal['prior'][key], journal['prepared'][key]):
           return False
       target = journal['prepared'] if enabled else journal['prior']
       for key, value in target.items():
         if not authorized():
           return False
         current, readable = read_saved(params, key, LIMIT)
-        if not readable or current not in (journal['prior'][key], journal['prepared'][key]):
+        if not readable or current != sources[key]:
           return False
+        if current not in (journal['prior'][key], journal['prepared'][key]):
+          if enabled:
+            return False
+          continue
         if current != value:
           replace_saved(params, key, value)
       if not authorized():