Preserve GM stock-cruise lateral intent through accelerator-held source gaps

openpilot/starpilot/aol/source_availability.py

@@ -46,11 +46,17 @@ def stock_lateral_role(self, CS, native, intent=None, *, allow_independent_cance
 
     settings = getattr(self, 'aol_settings', None)
     previous = getattr(self, 'aol_axis_decision', None)
-    gas_role = bool(self.CP.brand == 'hyundai' and len(self.CP.safetyConfigs) == 1 and
-      settings is not None and settings.enabled and CS.gasPressed and not CS.brakePressed and not CS.regenBraking and
-      previous is not None and previous.lateral_active and previous.native_acknowledged and not previous.longitudinal_active and
-      CS.gearShifter == car.CarState.GearShifter.drive and isfinite(CS.vEgoRaw) and isfinite(CS.vEgo) and
-      stock_canfd_qualified(self.CP, marked_only=True))
+    from opendbc.car.gm.aol import qualified_gm
+
+    gas_role = bool((self.CP.brand == 'hyundai' and len(self.CP.safetyConfigs) == 1 and
+      stock_canfd_qualified(self.CP, marked_only=True) or self.CP.brand == 'gm' and qualified_gm(self.CP) and self.CP.pcmCruise and
+      not self.CP.openpilotLongitudinalControl) and settings is not None and settings.enabled and
+      CS.gasPressed and not CS.brakePressed and not CS.regenBraking and
+      previous is not None and (previous.lateral_active or self.CP.brand == 'gm' and
+       getattr(self, 'aol_fault_reason', 'none') == 'availabilityPause' and previous.desired_lateral) and
+      previous.native_acknowledged and not previous.longitudinal_active and
+      (CS.gearShifter == car.CarState.GearShifter.drive or self.CP.brand == 'gm' and
+       CS.gearShifter == car.CarState.GearShifter.low) and isfinite(CS.vEgoRaw) and isfinite(CS.vEgo))
   rules = self.events.event_rules
   stock_user = stock_lateral_user_event(self.CP)
   users = [name for name in self.events.names if ET.USER_DISABLE in rules.get(name, {})]

openpilot/starpilot/aol/tests/test_gm_stock_gas_source_gap.py

@@ -0,0 +1,111 @@
+"""Stock LONG-off source gaps preserve GM LAT intent, never expired output."""
+from contextlib import ExitStack
+from unittest.mock import patch
+
+import pytest
+from opendbc.car.gm.tests.test_bolt_factory_acc import factory_params
+from opendbc.car.gm.tests.test_bolt_volt_configurations import ordinary_params
+from opendbc.car.gm.tests.test_volt_sdgm_control import sdgm_params
+from opendbc.car.gm.values import CAR
+from openpilot.cereal import messaging
+from openpilot.common.params import Params
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.selfdrive.selfdrived.events import EventName
+from openpilot.starpilot.aol.intent import read_settings
+from openpilot.starpilot.aol.tests.test_input_deadline_continuity import intent
+from openpilot.starpilot.aol.tests import test_gm as gm_fixture
+from openpilot.starpilot.aol.tests import test_ioniq_availability as fixture
+
+BASE = 10_000_000_000
+
+
+def params(name):
+  if name == 'ascm':
+    return ordinary_params(CAR.CHEVROLET_VOLT_ASCM, alpha=False, sascm=True, radar=True)
+  if name == 'sdgm':
+    return sdgm_params(alpha=False, brake_c9=True)
+  return factory_params(alpha=False)
+
+
+@pytest.mark.parametrize('name', ['ascm', 'sdgm', 'bolt_acc'])
+@pytest.mark.parametrize('fault', ['none', 'native', 'rx', 'can', 'eps', 'cancel', 'new_gas', 'expired', 'model'])
+def test_accepted_stock_gas_gap_reaches_card_without_takeover_or_output(name, fault):
+  with OpenpilotPrefix(), ExitStack() as cleanup:
+    saved = Params()
+    saved.put_bool('AlwaysOnLateral', True, block=True)
+    card = gm_fixture.TestGmAol.card(params(name), saved)
+    cleanup.callback(card.vehicle_startup.close)
+    card.slc_producer_session = 'authority-card'
+    card.aol_card_intent.allowed_latch = True
+    case = fixture.IoniqAvailabilityTests(methodName='runTest')
+    cleanup.callback(case.doCleanups)
+    sd, controls, step = case._authority_callers(False, cp=card.CP.as_reader().as_builder(), genuine_events=True)
+    sd.aol_settings = read_settings(sd.params)
+    def receive(now):
+      frames = [sd.pm.messages[n] for n in ('aolAxisState', 'onroadEvents', 'selfdriveState')]
+      for service in ('pandaStates', 'aolSafetyWire', 'deviceState'):
+        msg = messaging.new_message(service, len(sd.sm[service]) if service in ('pandaStates', 'aolSafetyWire') else None,
+                                    valid=sd.sm.valid[service], logMonoTime=sd.sm.logMonoTime[service])
+        setattr(msg, service, sd.sm[service])
+        frames.append(msg.as_reader())
+      card.sm.update_msgs(now / 1e9, frames)
+      return card.aol_disarming_fault(sd.CS_prev, int(card.sm.logMonoTime['onroadEvents']), now)
+    for tick in (0, 1):
+      state = fixture.car_state()
+      state.gearShifter = fixture.car.CarState.GearShifter.low
+      state.vEgo = state.vEgoRaw = 12.5
+      state.cruiseState.enabled = False
+      axis, host, command = step(tick, observed_state=state, gas=fault != 'new_gas', steering=True,
+        native_request_long=False, panda_controls_allowed=False)
+      assert axis.lateralActive and command.latActive and not command.longActive and not host.enabled
+      assert not receive(BASE + tick * 10_000_000)
+    original_deadline = axis.validUntilMonoTime
+    cs = sd.CS_prev
+    sd.car_state_samples = ()
+    if fault in ('can', 'eps', 'new_gas'):
+      cs = cs.as_builder()
+      if fault == 'can':
+        cs.canValid = False
+      elif fault == 'eps':
+        cs.steerFaultPermanent = True
+      else:
+        cs.gasPressed = True
+    elif fault == 'native':
+      sd.sm.valid['aolSafetyWire'] = False
+    elif fault == 'rx':
+      bad = messaging.new_message('pandaStates', len(sd.sm['pandaStates']), valid=True, logMonoTime=BASE + 10_000_000)
+      for slot, previous in zip(bad.pandaStates, sd.sm['pandaStates'], strict=True):
+        slot.from_dict(previous.to_dict())
+        slot.safetyRxChecksInvalid = True
+      sd.sm.update_msgs((BASE + 10_000_000) / 1e9, [bad.as_reader()])
+    elif fault == 'cancel':
+      sd.events.add(EventName.buttonCancel)
+    elif fault == 'model':
+      sd.sm.valid['modelV2'] = False
+    now = BASE + (220_000_001 if fault == 'expired' else 41_372_648)
+    with patch('openpilot.selfdrive.selfdrived.selfdrived.time.monotonic_ns', return_value=now):
+      sd.publish_axis_proof(cs)
+    paused = sd.pm.messages['aolAxisState'].aolAxisState
+    assert not paused.lateralActive and not paused.longitudinalActive and paused.sourceCarStateMonoTime == 0
+    # Original Controls decision cannot command after its own original deadline.
+    with patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=max(now, original_deadline + 1)):
+      expired, _ = controls.state_control()
+    assert not expired.latActive and not expired.longActive
+    if fault != 'none':
+      assert sd.aol_authority_lost and EventName.controlsMismatch in sd.events.names
+      return
+    assert str(paused.faultReason) == 'availabilityPause' and paused.desiredLateral and paused.nativeAcknowledged
+    assert not sd.aol_authority_lost and EventName.controlsMismatch not in sd.events.names
+    assert not receive(now)
+    assert card.aol_transport_feedback.retention_verified and not card.aol_transport_feedback.failed
+    for tick in (6, 10):
+      held, host, command = step(tick, timeout=True, state_stamp=BASE + 10_000_000,
+        intent_message=intent(BASE + 10_000_000, 2), observed_state=state, gas=True, steering=True,
+        native_request_long=False, panda_controls_allowed=False)
+      assert str(held.faultReason) == 'availabilityPause' and held.sourceCarStateMonoTime == 0
+      assert not held.lateralActive and not held.longitudinalActive and not sd.aol_authority_lost
+      assert not command.latActive and not command.longActive and not host.enabled
+      assert EventName.controlsMismatch not in sd.events.names and not receive(BASE + tick * 10_000_000)
+    axis, host, command = step(11, gas=True, steering=True, observed_state=state, native_request_long=False,
+                               panda_controls_allowed=False)
+    assert axis.lateralActive and command.latActive and not command.longActive and not host.enabled

openpilot/starpilot/aol/transport_pause.py

@@ -122,6 +122,9 @@ def stock_lateral_off(cp, cs, native, *, allow_independent_cancel=False, allow_i
 
   from openpilot.starpilot.car.toyota.aol import qualified as toyota_qualified
 
+  from opendbc.car.gm.aol import qualified_gm
+
+  gm_stock_gas = bool(cp.brand == 'gm' and qualified_gm(cp) and cp.pcmCruise and not cp.openpilotLongitudinalControl)
   independent_angle = angle_qualified(cp, marked_only=True)
   independent_brake = independent_angle or (allow_independent_brake and (
     toyota_qualified(cp, marked_only=True) and not cs.cruiseState.enabled or
@@ -132,7 +135,7 @@ def stock_lateral_off(cp, cs, native, *, allow_independent_cancel=False, allow_i
     not cs.accFaulted and not cs.doorOpen and not cs.seatbeltUnlatched and
     (not cs.brakePressed or independent_brake and allow_independent_brake) and
     not cs.regenBraking and (not cs.gasPressed or independent_angle or
-      allow_independent_gas and (toyota_qualified(cp, marked_only=True) or
+      allow_independent_gas and (gm_stock_gas or toyota_qualified(cp, marked_only=True) or
         cp.brand == 'hyundai' and stock_canfd_qualified(cp, marked_only=True))) and
     (not physical_cancel(cs, cp) or independent_angle and allow_independent_cancel) and
     native is not None and native.requestedLateral and native.lateralAllowed and not native.requestedLongitudinal)
@@ -870,11 +873,15 @@ class TransportPauseFeedback:
     toyota_pedal = bool(toyota_qualified(cp, marked_only=True) and cs.brakePressed != cs.gasPressed and
       not cs.regenBraking and self.lateral_only_baseline and
       not native.requestedLongitudinal and not native.longitudinalAllowed)
+    from opendbc.car.gm.aol import qualified_gm
+    gm_stock_gas = bool(cp.brand == 'gm' and qualified_gm(cp) and cp.pcmCruise and not cp.openpilotLongitudinalControl and
+      cs.gasPressed and not cs.brakePressed and not cs.regenBraking and self.lateral_only_baseline and
+      not native.requestedLongitudinal and not native.longitudinalAllowed)
     stock_user = stock_lateral_user_event(cp)
     stock_lateral = bool(reason == 'availabilityPause' and axis.sourceCarStateMonoTime == 0 and
       not axis.lateralActive and not axis.longitudinalActive and not axis.desiredLongitudinal and
       stock_lateral_off(cp, cs, native, allow_independent_brake=toyota_pedal,
-                        allow_independent_gas=toyota_pedal and cs.gasPressed) and previous is not None and
+                        allow_independent_gas=gm_stock_gas or toyota_pedal and cs.gasPressed) and previous is not None and
       previous[0] == self.session and previous[7] == self.session and
       previous[14] == intent_producer_session and previous[15] == self.availability_epoch and
       (previous[11] and not previous[12] and previous[13] and not previous[10] and

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "373b7db8d438a42c2c6f34ebe80638bdedd8412e86073f52d1dc7f8fcd9c3dc8", "schema_version": 1}
+{"protected_inventory_sha256": "9557b6d99d89bebb534bfae00e1d9ac6c5998d838daf45c3065969329226a663", "schema_version": 1}