Merge remote-tracking branch 'origin/Dom' into Dom

opendbc_repo/opendbc/safety/modes/ford_aol.h

@@ -68,6 +68,8 @@ static bool ford_aol_neutral_packet(const CANPacket_t *msg) {
   } else if (msg->addr == 0x3D8U) {
     const unsigned int lines = msg->data[6] >> 3U;
     neutral = ((lines == 0U) || (lines == 30U)) && (((msg->data[6] >> 1U) & 3U) == 0U);
+  } else {
+    // Other packet types do not supply neutral display state.
   }
   return neutral;
 }
@@ -331,6 +333,8 @@ static void ford_aol_tx(const CANPacket_t *msg, bool accepted) {
       ford_aol_neutral_display_mask |= (msg->addr == 0x18AU) ? 1U : 2U;
     } else if (!accepted) {
       ford_aol_neutral_reset();
+    } else {
+      // No fresh neutral proof; retain the existing lease without renewing it.
     }
   }
 }

opendbc_repo/opendbc/safety/modes/hyundai_canfd_aol.h

@@ -21,7 +21,7 @@ static inline bool hyundai_canfd_torque_long_aol_param(uint16_t param) {
   const uint16_t base = param & (uint16_t)~0x0800U;
   const uint16_t fuel = base & 3U;
   const uint16_t topology = base & 0x00B8U;
-  const bool sportage = ((param & 0x0800U) != 0U) && ((base & (uint16_t)~0x00BEU) == 0U) &&
+  const bool sportage = ((param & 0x0800U) != 0U) && ((base & 0xFF41U) == 0U) &&
                         ((base & 4U) != 0U) && ((fuel == 0U) || (fuel == 2U)) &&
                         ((topology == 0U) || (topology == 8U) || (topology == 16U) ||
                          (topology == 144U) || (topology == 32U) || (topology == 40U));

openpilot/starpilot/controllers/wheel_actions.py

@@ -82,7 +82,7 @@ def button_reported(cp, key):
     if brand == 'ford':
       return bool(cp.openpilotLongitudinalControl)
     if brand == 'mazda':
-      from opendbc.car.mazda.aol import qualified
+      from opendbc.car.mazda.stock_aol import qualified
       return qualified(cp, marked_only=True)
   return True
 

openpilot/starpilot/ui/tests/test_wheel_effective_aol_roles.py

@@ -49,6 +49,11 @@ def test_hkg_default_toggle_and_explicit_mapping_are_displayed_truthfully(tmp_pa
   assert rows['wheel:MainCruiseButtonControl'].value == 'Off'
   assert params.get('LKASButtonControl') == 9
   assert params.get('MainCruiseButtonControl') == 0
+  params.put('LKASButtonControl', 8, block=True)
+  rows = {row.key: row for row in wheel.rows()}
+  assert rows['wheel:LKASButtonControl'].value == 'Bookmark'
+  assert rows['wheel:MainCruiseButtonControl'].value == 'Toggle AOL'
+  assert params.get('LKASButtonControl') == 8
 
 
 def test_mach_e_fixed_lkas_role_matches_actual_intent_and_cannot_claim_off(tmp_path):
@@ -81,3 +86,41 @@ def test_ioniq6_actual_settings_owner_exposes_both_rows(tmp_path):
   rows = {row.key: row for row in page.rows}
   for key in ('LKASButtonControl', 'MainCruiseButtonControl'):
     assert 'Toggle AOL' in rows['wheel:' + key].choices
+
+
+@pytest.mark.parametrize('brand', ['chrysler', 'mazda', 'nissan', 'volkswagen'])
+def test_factory_main_aol_role_is_visible_without_inventing_a_button_mapping(tmp_path, brand):
+  from openpilot.starpilot.aol.vehicle import policy_for
+
+  candidates = (interface.get_non_essential_params(identity) for identity, interface in interfaces.items()
+                if interface.__module__.split('.')[-2] == brand)
+  cp = next((candidate for candidate in candidates if policy_for(candidate).runtime_supported), None)
+  assert cp is not None, brand
+  params = Params(str(tmp_path))
+  wheel = WheelFeature(owner(params, cp))
+  rows = {row.key: row for row in wheel.rows()}
+  main = rows['wheel:MainCruiseButtonControl']
+  assert main.value == 'Factory cruise / AOL'
+  assert not main.available and not main.choices
+  assert params.get('MainCruiseButtonControl') is None
+  assert not wheel.choices('MainCruiseButtonControl')
+
+
+def test_mazda_cancel_assignment_reaches_wheel_publisher_without_missing_import(tmp_path):
+  from opendbc.car.mazda.values import CAR as MAZDA
+  from openpilot.starpilot.controllers.wheel_actions import WheelPublisher, button_reported, capture, eligible
+
+  cp = interfaces[MAZDA.MAZDA_CX5_2022].get_non_essential_params(MAZDA.MAZDA_CX5_2022)
+  cp.alternativeExperience = 32
+  params = Params(str(tmp_path))
+  params.put('CancelButtonControl', 8, block=True)
+  assert eligible(cp)
+  assert button_reported(cp, 'CancelButtonControl')
+  publisher = WheelPublisher(params)
+  state = structs.CarState(canValid=True, gearShifter='drive')
+  publisher.observe(params, cp, state, now_ns=10_000_000, drive_id=1)
+  state.buttonEvents = [structs.CarState.ButtonEvent(type='cancel', pressed=True)]
+  publisher.observe(params, cp, state, now_ns=20_000_000, drive_id=1)
+  state.buttonEvents = [structs.CarState.ButtonEvent(type='cancel', pressed=False)]
+  commands = publisher.observe(params, cp, state, now_ns=30_000_000, drive_id=1)
+  assert commands == (('CancelButtonControl', 8),), (capture(params), publisher.mapping, publisher.cancel_tracker.__dict__, publisher.axis_keys)

openpilot/starpilot/ui/wheel_feature.py

@@ -44,6 +44,9 @@ class WheelFeature:
       return None
     if policy.fixed_cruise_buttons and not (key == KEYS[0] and policy.auxiliary_lkas_supported):
       return "Toggle AOL" if cp.brand == 'hyundai' else "Factory cruise / AOL"
+    if (key == KEYS[1] and policy.runtime_supported and cp.brand in ('chrysler', 'mazda', 'nissan', 'volkswagen') and
+        not button_reported(cp, key)):
+      return "Factory cruise / AOL"
     if cp.brand == 'ford' and policy.explicit_latch and policy.runtime_supported and key == KEYS[1]:
       sources = [read_saved(self.owner.params, name, 8) for name in KEYS[:2]]
       return "Factory cruise / AOL" if all(ok and value != b'9' for value, ok in sources) else "Factory cruise"
@@ -122,7 +125,7 @@ class WheelFeature:
         implicit_toggle = independent_cruise_buttons_supported(cp) and all(ok and value in ordinary_actions
                                                                           for value, ok in sources)
       ford_role = cp.brand == 'ford' and policy.explicit_latch and policy.runtime_supported and key == KEYS[0]
-      if implicit_toggle or ford_role and selected == "Off":
+      if (implicit_toggle or ford_role) and selected == "Off":
         selected = "Toggle AOL"
       default = next(label for label, code in ACTIONS.items() if code == DEFAULTS.get(key, 0))
       rows.append(FeatureRow(PREFIX + key, label, selected or "Invalid saved action", raw, choices,
@@ -131,6 +134,7 @@ class WheelFeature:
                              reason=("LKAS also toggles AOL independently of its saved extra action." if ford_role else
                                      "Neither LKAS nor MAIN is assigned Toggle AOL, so both retain the default AOL toggle." if implicit_toggle else
                                      "Bookmark on release. Available while Left Paddle Longitudinal Pause is Off." if key == PADDLE_KEY else
+                                     "Off adds no action to the vehicle's existing button behavior. " +
                                      "Axis pause and AOL assignments apply after restarting. Other actions can apply this drive. " +
                                      "Long actions fire while held."),
                              capability=capability, repair_value="Off" if selected is None else ""))

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "1270220cf581ab9d7b6da883bb4a9197967b27f4634345151bfbf0cb49048736", "schema_version": 1}
+{"protected_inventory_sha256": "32675d7ccca0fc6a03db2b06173dd65ffe7e7bc760b80e4cfb91c698943609b0", "schema_version": 1}