Merge PR #90: Rivian Angle Support

Original PR by TonyJOM (Anthony Orta).

Co-authored-by: TonyJOM <anthonyorta20@icloud.com>

starpilot/common/starpilot_utilities.py

@@ -189,6 +189,8 @@ def get_selected_panda_firmware_name(app_fn, remote_start, hkg_remote_start, ign
 
 
 def flash_panda(params_memory):
+  from openpilot.selfdrive.pandad.rivian_long_flasher import is_rivian_bridge_panda, is_rivian_vehicle
+
   params = Params()
   try:
     remote_start = params.get_bool("RemoteStartBootsComma")
@@ -203,9 +205,14 @@ def flash_panda(params_memory):
   except Exception:
     ignore_ignition_line = False
 
+  rivian = is_rivian_vehicle()
+  usb_serials = set(Panda.usb_list())
   for serial in Panda.list():
     try:
       with Panda(serial=serial) as panda:
+        if serial in usb_serials and is_rivian_bridge_panda(panda, rivian):
+          print(f"Skipping Rivian harness bridge {serial}")
+          continue
         print(f"Flashing Panda {serial}")
         flash_fn = None
         app_fn = panda.get_mcu_type().config.app_fn

starpilot/common/starpilot_variables.py

@@ -330,6 +330,9 @@ def get_starpilot_toggles(sm=messaging.SubMaster(["starpilotPlan"]), *, read_per
     # Controller selection happens before the first live StarPilot broadcast. Do
     # not let a cached CarParams/controller type hide the persisted user request.
     toggles.force_torque_controller = get_starpilot_toggles._params.get_bool("ForceTorqueController")
+    # Controller selection happens before the first live StarPilot broadcast.
+    # Realtime callers use the serialized value to avoid blocking reads.
+    toggles.rivian_angle_control = get_starpilot_toggles._params.get_bool("RivianAngleControl")
   return toggles
 
 @cache
@@ -563,6 +566,7 @@ class StarPilotVariables:
     toggle = self.starpilot_toggles
     # CarParams uses this value to select the matching Panda safety configuration.
     toggle.tesla_cooperative_steering = self.params.get_bool("TeslaCoopSteering")
+    toggle.rivian_angle_control = self.params.get_bool("RivianAngleControl")
 
     fallback_platform = GM_CAR.CHEVROLET_BOLT_ACC_2022_2023 if HARDWARE.get_device_type() == "pc" else MOCK.MOCK
 
@@ -1422,6 +1426,7 @@ class StarPilotVariables:
       "TeslaCoopSteering",
       condition=toggle.car_make == "tesla" and toggle.car_model == TESLA_CAR.TESLA_MODEL_3,
     )
+    toggle.rivian_angle_control = self.get_value("RivianAngleControl", condition=toggle.car_make == "rivian")
 
     toggle.tethering_config = self.get_value("TetheringEnabled", cast=float)
 

starpilot/common/tests/test_starpilot_variables.py

@@ -64,6 +64,19 @@ def test_get_starpilot_toggles_realtime_path_does_not_read_persisted_force_param
   assert toggles.force_torque_controller is False
 
 
+def test_get_starpilot_toggles_uses_live_rivian_angle_request(monkeypatch):
+  params = SimpleNamespace(get_bool=lambda key: key == "RivianAngleControl")
+  monkeypatch.setattr(spv.get_starpilot_toggles, "_params", params, raising=False)
+
+  payload = '{"rivian_angle_control": false}'
+  toggles = spv.get_starpilot_toggles(
+    {"starpilotPlan": SimpleNamespace(starpilotToggles=payload)},
+    read_persisted_force_params=True,
+  )
+
+  assert toggles.rivian_angle_control is True
+
+
 class _FakeParams:
   def __init__(self, floats=None, ints=None, bools=None):
     self.floats = dict(floats or {})

starpilot/system/the_galaxy/assets/components/tools/device_settings.js

@@ -15,6 +15,7 @@ const HIDDEN_SETTING_KEYS = new Set(["HumanAcceleration", "ReverseCruise"])
 const GM_MAKES = ["Buick", "Cadillac", "Chevrolet", "GMC", "Holden"]
 const HKG_MAKES = ["Genesis", "Hyundai", "Kia"]
 const VEHICLE_SETTING_MAKES = {
+  RivianAngleControl: ["Rivian"],
   TeslaCoopSteering: ["Tesla"],
   NAPRadarEnabled: ["Tesla"],
   NAPRadarBehindNosecone: ["Tesla"],
@@ -105,6 +106,7 @@ function isVehicleSettingVisible(section, param) {
 function isSettingVisible(section, param) {
   // This policy controls Galaxy rendering only; hidden params retain their stored values.
   if (HIDDEN_SETTING_KEYS.has(param.key) || !isVehicleSettingVisible(section, param)) return false
+  if (param.requires_capability && !state.values[param.requires_capability]) return false
   if (RADAR_REQUIRED_KEYS.has(param.key) && !state.values.HasRadar) return false
   if (param.key === "AlphaLongitudinalEnabled" && !state.values.AlphaLongitudinalAvailable) return false
   if (state.values[GALAXY_DEVELOPER_MODE_KEY]) return true

starpilot/system/the_galaxy/assets/components/tools/device_settings_layout.json

@@ -2703,6 +2703,16 @@
         "options_endpoint": "/api/fingerprints/models?make={CarMake}",
         "settings_tier": "simple"
       },
+      {
+        "key": "RivianAngleControl",
+        "label": "Rivian Angle Steering",
+        "description": "Use the Extreme harness angle channel with cooperative torque fallback.",
+        "data_type": "bool",
+        "ui_type": "toggle",
+        "favorite_eligible": true,
+        "requires_capability": "HasRivianAngleHarness",
+        "settings_tier": "simple"
+      },
       {
         "key": "ForceFingerprint",
         "label": "Disable Automatic Fingerprint Detection",

starpilot/system/the_galaxy/tests/test_device_settings_layout.py

@@ -172,6 +172,17 @@ def test_human_acceleration_param_is_removed():
   assert '{"HumanAcceleration",' not in params_source
 
 
+def test_rivian_angle_control_is_live_favorite_and_harness_gated():
+  sections = _params_by_section(_layout())
+  setting = sections["Vehicle"]["RivianAngleControl"]
+
+  assert setting["ui_type"] == "toggle"
+  assert setting["favorite_eligible"] is True
+  assert setting["requires_capability"] == "HasRivianAngleHarness"
+  assert "reboot" not in setting["description"].lower()
+  assert _declared_default("RivianAngleControl") == "0"
+
+
 def test_vasm_is_default_off_and_configured_only_in_galaxy():
   sections = _params_by_section(_layout())
   lateral = sections["Lateral (Steering)"]

starpilot/system/the_galaxy/tests/test_navigation_params.py

@@ -249,6 +249,23 @@ def test_favorite_slot_options_include_virtual_cruise_actions(monkeypatch):
   assert "__starpilot_favorite_action__:distance_increase" in option_keys
 
 
+def test_rivian_angle_favorite_requires_detected_extreme_harness(monkeypatch):
+  options = [
+    {"key": "RivianAngleControl", "requiresCapability": "HasRivianAngleHarness"},
+    {"key": "NonGatedFavorite", "requiresCapability": ""},
+  ]
+  monkeypatch.setattr(the_galaxy, "_get_favorite_slot_options", lambda: options)
+
+  monkeypatch.setattr(the_galaxy, "_get_has_rivian_angle_harness", lambda: False)
+  assert [option["key"] for option in the_galaxy._get_available_favorite_slot_options()] == ["NonGatedFavorite"]
+
+  monkeypatch.setattr(the_galaxy, "_get_has_rivian_angle_harness", lambda: True)
+  assert [option["key"] for option in the_galaxy._get_available_favorite_slot_options()] == [
+    "RivianAngleControl",
+    "NonGatedFavorite",
+  ]
+
+
 def test_favorite_action_endpoint_increments_virtual_button_counter(monkeypatch):
   client, _ = _params_client(monkeypatch, {}, "tici")
   fake_memory = WritableFakeParams()

starpilot/system/the_galaxy/the_galaxy.py

@@ -99,6 +99,8 @@ from openpilot.starpilot.system.the_galaxy import flm_workspace, utilities
 from openpilot.starpilot.system.the_galaxy.update_recovery import inspect_interrupted_update, public_recovery_status, recover_interrupted_update
 
 DISCORD_WEBHOOK_URL = os.getenv("DISCORD_WEBHOOK_URL")
+# Keep Galaxy independent of opendbc's generated car bindings while matching RivianFlags.ANGLE_HARNESS.
+RIVIAN_ANGLE_HARNESS_FLAG = 1 << 0
 
 GITLAB_API = "https://gitlab.com/api/v4"
 GITLAB_SUBMISSIONS_PROJECT_ID = "71992109"
@@ -2721,6 +2723,7 @@ def _get_favorite_slot_options():
           "label": str(param_data.get("label") or key),
           "description": str(param_data.get("description") or ""),
           "section": section_name,
+          "requiresCapability": str(param_data.get("requires_capability") or ""),
         })
   except Exception:
     options = []
@@ -2729,6 +2732,15 @@ def _get_favorite_slot_options():
   _favorite_slot_options = options
   return _favorite_slot_options
 
+def _get_available_favorite_slot_options():
+  capabilities = {
+    "HasRivianAngleHarness": _get_has_rivian_angle_harness(),
+  }
+  return [
+    option for option in _get_favorite_slot_options()
+    if not option.get("requiresCapability") or capabilities.get(option["requiresCapability"], False)
+  ]
+
 def _favorite_slot_values(options):
   return {
     option["key"]: _safe_params_get_bool(option["key"])
@@ -3517,6 +3529,17 @@ def _get_alpha_longitudinal_available():
   except Exception:
     return False
 
+def _get_has_rivian_angle_harness():
+  cp_bytes = _safe_params_get_live_raw("CarParamsPersistent")
+  if not cp_bytes:
+    return False
+
+  try:
+    with car.CarParams.from_bytes(cp_bytes) as cp:
+      return cp.brand == "rivian" and bool(int(getattr(cp, "flags", 0)) & RIVIAN_ANGLE_HARNESS_FLAG)
+  except Exception:
+    return False
+
 def _get_hardware_snapshot_items():
   starpilot_toggles = _get_starpilot_toggles_snapshot()
 
@@ -4655,7 +4678,7 @@ def setup(app):
 
   @app.route("/api/favorites/slots", methods=["GET", "PUT"])
   def favorite_slots():
-    options = _get_favorite_slot_options()
+    options = _get_available_favorite_slot_options()
     option_by_key = {option["key"]: option for option in options}
     eligible_keys = set(option_by_key)
 
@@ -4705,7 +4728,7 @@ def setup(app):
 
   @app.route("/api/favorites/values", methods=["GET"])
   def favorite_values():
-    options = _get_favorite_slot_options()
+    options = _get_available_favorite_slot_options()
     eligible_keys = {option["key"] for option in options}
     slots = normalize_favorite_slots(params.get(FAVORITE_SLOTS_PARAM), params=params, eligible_keys=eligible_keys)
     return jsonify({"values": _configured_favorite_slot_values(slots)}), 200
@@ -4736,7 +4759,7 @@ def setup(app):
         if not isinstance(raw_slots, list):
           return jsonify({"error": "Favorite slots must be configured with the Favorites editor."}), 400
 
-        options = _get_favorite_slot_options()
+        options = _get_available_favorite_slot_options()
         option_by_key = {option["key"]: option for option in options}
         eligible_keys = set(option_by_key)
         slots = normalize_favorite_slots(raw_slots, params=params, eligible_keys=eligible_keys)
@@ -5099,6 +5122,8 @@ def setup(app):
       update_starpilot_toggles()
 
       response = {"message": f"Parameter '{key}' updated successfully."}
+      if key == "RivianAngleControl":
+        response["message"] = "Rivian steering mode updated. The safe channel handoff is in progress."
       updated = {}
       if key in PANDA_FIRMWARE_TOGGLE_KEYS:
         threading.Thread(target=_flash_panda_then_reboot, daemon=True).start()
@@ -5178,6 +5203,7 @@ def setup(app):
     result["HasRadar"] = _get_has_radar()
     result["VehicleParked"] = _get_vehicle_parked()
     result["AlphaLongitudinalAvailable"] = _get_alpha_longitudinal_available()
+    result["HasRivianAngleHarness"] = _get_has_rivian_angle_harness()
 
     return jsonify(_sanitize_json_value(result)), 200