nisswan

selfdrive/car/card.py

@@ -367,10 +367,8 @@ class Car:
       was_openpilot_long = self.CP.openpilotLongitudinalControl
       self.CI.init(self.CP, *self.can_callbacks)
       # If ECU disable was skipped/failed, strip LONG safety flag from BOTH CarParams
-      # and StarPilotCarParams (pandad ORs both safetyParams together)
-      # Use the pre-init longitudinal state here, since Hyundai init() may already
-      # flip CP.openpilotLongitudinalControl to False as part of the fallback.
-      if was_openpilot_long and self.CP.brand in ("hyundai", "nissan") and self.params.get_bool("EcuDisableFailed"):
+      nissan_leaf_alpha_long = self.CP.brand == "nissan" and self.CP.carFingerprint == "NISSAN_LEAF"
+      if was_openpilot_long and (self.CP.brand == "hyundai" or nissan_leaf_alpha_long) and self.params.get_bool("EcuDisableFailed"):
         # ECU disable failed/rejected - switch to lateral-only mode with stock ACC
         # Keep this local to avoid importing every brand's values into card.py.
         LONG_FLAG = 4 if self.CP.brand == "hyundai" else 2 if self.CP.brand == "nissan" else 0
@@ -378,9 +376,6 @@ class Car:
           cfg.safetyParam &= ~LONG_FLAG
         for cfg in self.FPCP.safetyConfigs:
           cfg.safetyParam &= ~LONG_FLAG
-        # Let stock ACC manage cruise (prevents "controls mismatch" error)
-        # Clear openpilotLongitudinalControl so controlsd doesn't set
-        # cruiseControl.override=True (which fights stock ACC and causes engage flicker)
         self.CP.pcmCruise = True
         self.CP.openpilotLongitudinalControl = False
         self.params.put("CarParams", self.CP.to_bytes())

selfdrive/controls/controlsd.py

@@ -12,6 +12,7 @@ from openpilot.common.swaglog import cloudlog
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.chrysler.values import pacifica_hybrid_aol_stock_acc_mode
 from opendbc.car.gm.values import CAR as GM_CAR
+from opendbc.car.nissan.values import CAR as NISSAN_CAR
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.controls.lib.drive_helpers import MAX_LATERAL_JERK, clip_curvature, get_lateral_active
 from openpilot.selfdrive.controls.lib.lane_centering import LaneCenteringController
@@ -365,11 +366,12 @@ class Controls:
     if self.ecu_disable_failed_checked:
       return
 
-    # ControlsReady is set after CarInterface.init(), where Hyundai ECU disable
-    # writes EcuDisableFailed. Once init has completed, the value is stable.
     if self.params.get_bool("ControlsReady"):
       self.ecu_disable_failed = self.params.get_bool("EcuDisableFailed")
       self.ecu_disable_failed_checked = True
+      if self.ecu_disable_failed and self.CP.carFingerprint == NISSAN_CAR.NISSAN_LEAF:
+        self.CP.openpilotLongitudinalControl = False
+        self.CP.pcmCruise = True
 
   def state_control(self):
     CS = self.sm['carState']

selfdrive/selfdrived/selfdrived.py

@@ -13,6 +13,7 @@ from msgq.visionipc import VisionIpcClient, VisionStreamType
 from opendbc.car.chrysler.values import pacifica_hybrid_aol_stock_acc_mode
 from opendbc.car.gm.values import GMFlags
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR
+from opendbc.car.nissan.values import CAR as NISSAN_CAR
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
@@ -223,6 +224,10 @@ class SelfdriveD:
     self.logged_comm_issue = None
     self.not_running_prev = None
     self.experimental_mode = False
+    self.ecu_disable_failed = False
+    self.ecu_disable_failed_checked = not (
+      self.CP.openpilotLongitudinalControl and self.CP.carFingerprint == NISSAN_CAR.NISSAN_LEAF
+    )
     self.safe_mode = self.params.get_bool("SafeMode")
     self.personality = log.LongitudinalPersonality.relaxed if self.safe_mode else self.params.get("LongitudinalPersonality", return_default=True)
     self.recalibrating_seen = False
@@ -276,6 +281,23 @@ class SelfdriveD:
 
     self.FPCP = messaging.log_from_bytes(self.params.get("StarPilotCarParams", block=True), custom.StarPilotCarParams)
 
+  def update_ecu_disable_failed(self):
+    if self.ecu_disable_failed_checked:
+      return
+    if self.CP.carFingerprint != NISSAN_CAR.NISSAN_LEAF:
+      self.ecu_disable_failed_checked = True
+      return
+
+    if self.params.get_bool("ControlsReady"):
+      self.ecu_disable_failed = self.params.get_bool("EcuDisableFailed")
+      self.ecu_disable_failed_checked = True
+      if self.ecu_disable_failed:
+        fallback_cp = messaging.log_from_bytes(self.params.get("CarParams"), car.CarParams)
+        fallback_fpcp = messaging.log_from_bytes(self.params.get("StarPilotCarParams"), custom.StarPilotCarParams)
+        self.CP.openpilotLongitudinalControl = fallback_cp.openpilotLongitudinalControl
+        self.CP.pcmCruise = fallback_cp.pcmCruise
+        self.FPCP = fallback_fpcp
+
   def clear_longitudinal_excessive_actuation_alert(self):
     alert = self.params.get("Offroad_ExcessiveActuation")
     if not alert:
@@ -305,6 +327,7 @@ class SelfdriveD:
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
+    self.update_ecu_disable_failed()
     self.events.clear()
     self.starpilot_events.clear()
 

selfdrive/selfdrived/tests/test_selfdrived.py

@@ -1,7 +1,24 @@
-from cereal import car
+from cereal import car, custom
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR
+from opendbc.car.nissan.values import CAR as NISSAN_CAR
 
-from openpilot.selfdrive.selfdrived.selfdrived import commanded_torque_at_max_for_saturation
+from openpilot.selfdrive.selfdrived.selfdrived import SelfdriveD, commanded_torque_at_max_for_saturation
+
+
+class FakeFallbackParams:
+  def __init__(self, controls_ready, ecu_disable_failed, fallback_cp, fallback_fpcp):
+    self.controls_ready = controls_ready
+    self.ecu_disable_failed = ecu_disable_failed
+    self.values = {
+      "CarParams": fallback_cp.to_bytes(),
+      "StarPilotCarParams": fallback_fpcp.to_bytes(),
+    }
+
+  def get_bool(self, key):
+    return self.controls_ready if key == "ControlsReady" else self.ecu_disable_failed
+
+  def get(self, key):
+    return self.values[key]
 
 
 def test_immediate_max_output_saturation_is_torque_controller_only():
@@ -27,3 +44,64 @@ def test_gv70_uses_normal_saturation_timer_at_max_output():
   CP.lateralTuning.init("torque")
 
   assert not commanded_torque_at_max_for_saturation(CP, 1.0)
+
+
+def test_ecu_disable_fallback_synchronizes_behavior_and_safety_params():
+  initial_cp = car.CarParams.new_message()
+  initial_cp.carFingerprint = NISSAN_CAR.NISSAN_LEAF
+  initial_cp.openpilotLongitudinalControl = True
+  initial_cp.pcmCruise = False
+  initial_cp.safetyConfigs = [car.CarParams.SafetyConfig.new_message(safetyParam=2)]
+  initial_fpcp = custom.StarPilotCarParams.new_message()
+  initial_fpcp.safetyConfigs = [custom.StarPilotCarParams.SafetyConfig.new_message(safetyParam=2)]
+
+  fallback_cp = car.CarParams.new_message()
+  fallback_cp.openpilotLongitudinalControl = False
+  fallback_cp.pcmCruise = True
+  fallback_cp.safetyConfigs = [car.CarParams.SafetyConfig.new_message(safetyParam=0)]
+  fallback_fpcp = custom.StarPilotCarParams.new_message()
+  fallback_fpcp.safetyConfigs = [custom.StarPilotCarParams.SafetyConfig.new_message(safetyParam=0)]
+
+  selfdrived = SelfdriveD.__new__(SelfdriveD)
+  selfdrived.CP = initial_cp
+  selfdrived.FPCP = initial_fpcp
+  selfdrived.params = FakeFallbackParams(True, True, fallback_cp, fallback_fpcp)
+  selfdrived.ecu_disable_failed = False
+  selfdrived.ecu_disable_failed_checked = False
+
+  selfdrived.update_ecu_disable_failed()
+
+  assert selfdrived.ecu_disable_failed
+  assert selfdrived.ecu_disable_failed_checked
+  assert not selfdrived.CP.openpilotLongitudinalControl
+  assert selfdrived.CP.pcmCruise
+  assert selfdrived.FPCP.safetyConfigs[0].safetyParam == 0
+
+
+def test_ecu_disable_fallback_does_not_change_other_cars():
+  initial_cp = car.CarParams.new_message()
+  initial_cp.carFingerprint = HYUNDAI_CAR.HYUNDAI_SONATA
+  initial_cp.openpilotLongitudinalControl = True
+  initial_cp.pcmCruise = False
+  initial_fpcp = custom.StarPilotCarParams.new_message()
+  initial_fpcp.safetyConfigs = [custom.StarPilotCarParams.SafetyConfig.new_message(safetyParam=4)]
+
+  fallback_cp = car.CarParams.new_message()
+  fallback_cp.openpilotLongitudinalControl = False
+  fallback_cp.pcmCruise = True
+  fallback_fpcp = custom.StarPilotCarParams.new_message()
+  fallback_fpcp.safetyConfigs = [custom.StarPilotCarParams.SafetyConfig.new_message(safetyParam=0)]
+
+  selfdrived = SelfdriveD.__new__(SelfdriveD)
+  selfdrived.CP = initial_cp
+  selfdrived.FPCP = initial_fpcp
+  selfdrived.params = FakeFallbackParams(True, True, fallback_cp, fallback_fpcp)
+  selfdrived.ecu_disable_failed = False
+  selfdrived.ecu_disable_failed_checked = False
+
+  selfdrived.update_ecu_disable_failed()
+
+  assert selfdrived.ecu_disable_failed_checked
+  assert selfdrived.CP.openpilotLongitudinalControl
+  assert not selfdrived.CP.pcmCruise
+  assert selfdrived.FPCP.safetyConfigs[0].safetyParam == 4