Fix typed lane centering default enrollment

openpilot/system/manager/manager.py

@@ -75,7 +75,7 @@ def manager_init() -> None:
   for k in params.all_keys():
     if k == b"LKASButtonControl":
       continue  # Card enrolls the vehicle-specific default after identification.
-    default_value = ("0" if os.path.lexists(params.get_param_path("Version")) else "1") if k == b"LaneCentering" else params.get_default_value(k)
+    default_value = not os.path.lexists(params.get_param_path("Version")) if k == b"LaneCentering" else params.get_default_value(k)
     if default_value is not None and not os.path.lexists(params.get_param_path(k)):
       params.put(k, default_value, block=True)
 

openpilot/system/manager/test/test_lane_centering_defaults.py

@@ -0,0 +1,27 @@
+import ast
+import os
+from pathlib import Path
+import tempfile
+import unittest
+
+from openpilot.common.params import Params
+
+
+class TestLaneCenteringDefaults(unittest.TestCase):
+  def test_typed_enrollment_preserves_existing_choices(self):
+    source = Path(__file__).resolve().parents[1] / "manager.py"
+    tree = ast.parse(source.read_text())
+    loop = next(node for node in ast.walk(tree) if isinstance(node, ast.For) and
+                ast.unparse(node.iter) == "params.all_keys()")
+    code = compile(ast.fix_missing_locations(ast.Module(body=[loop], type_ignores=[])), str(source), "exec")
+    for upgrade in (False, True):
+      for saved in (None, b"0", b"1", b"malformed"):
+        with self.subTest(upgrade=upgrade, saved=saved), tempfile.TemporaryDirectory() as root:
+          params = Params(root)
+          if upgrade:
+            params.put("Version", "7.0", block=True)
+          path = Path(params.get_param_path("LaneCentering"))
+          if saved is not None:
+            path.write_bytes(saved)
+          exec(code, {"params": params, "os": os})
+          self.assertEqual(path.read_bytes(), saved if saved is not None else b"0" if upgrade else b"1")

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "a2fbb60c55f751914d8c6933c6228f20ae1ba345b67abd78f1f0a1c503079eb7", "schema_version": 1}
+{"protected_inventory_sha256": "a053ca5439f8e3928ec0c30fcaef86234d9e1891ccaa2a1c46098d121ef72a67", "schema_version": 1}