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 {})