lunch time

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -782,6 +782,7 @@ class CarController(CarControllerBase):
     if blended_hda2:
       can_sends.extend(hyundaicanfd.create_steering_messages(
         self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, 0.0,
+        lka_icon=lka_icon,
         longitudinal_active=longitudinal_active,
       ))
       if self.long_active_ecu:
@@ -792,6 +793,7 @@ class CarController(CarControllerBase):
           left_lane_warning, right_lane_warning, CS.msg_364,
           include_alerts=False,
           counter_mod=0xF,
+          fcw_opt_usm=2 if apply_steer_req or lka_icon == 3 else 1,
         ))
       if self.frame % 5 == 0:
         can_sends.append(hyundaicanfd.create_suppress_lfa(

opendbc_repo/opendbc/car/hyundai/hyundaican.py

@@ -129,13 +129,13 @@ def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
                                     torque_fault, lkas11, sys_warning, sys_state, enabled,
                                     left_lane, right_lane,
                                     left_lane_depart, right_lane_depart, msg_364,
-                                    include_alerts=True, counter_mod=0x10):
+                                    include_alerts=True, counter_mod=0x10, fcw_opt_usm=None):
   bus = CanBus(CP).ECAN
   values = {
     "CF_Lkas_LdwsActivemode": int(left_lane) + (int(right_lane) << 1),
     "CF_Lkas_LdwsLHWarning": left_lane_depart,
     "CF_Lkas_LdwsRHWarning": right_lane_depart,
-    "CF_Lkas_FcwOpt_USM": 2 if enabled else 1,
+    "CF_Lkas_FcwOpt_USM": (2 if enabled else 1) if fcw_opt_usm is None else fcw_opt_usm,
     "CR_Lkas_StrToqReq": apply_steer,
     "CF_Lkas_ActToi": steer_req,
     "CF_Lkas_ToiFlt": torque_fault,

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -727,6 +727,45 @@ class TestHyundaiFingerprint:
     } <= msg_addrs_buses
     assert (0x364, 1) not in msg_addrs_buses
 
+  def test_palisade_telluride_hda2_aol_keeps_lkas_status_after_long_cancel(self):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[2][0x50] = 16
+    car_fw = [CarParams.CarFw(ecu=Ecu.adas, fwVersion=b"", address=0x730, brand="hyundai")]
+    CP = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, fingerprint, car_fw, True, False, False, None)
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 1
+
+    hud_control = SimpleNamespace(
+      visualAlert=CarControl.HUDControl.VisualAlert.none,
+      leftLaneVisible=True,
+      rightLaneVisible=True,
+      leftLaneDepart=False,
+      rightLaneDepart=False,
+      leadDistanceBars=3,
+      leadVisible=False,
+    )
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 24) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    CS = SimpleNamespace(lfa_block_msg=lfa_block_msg, redneck_send_button=Buttons.NONE, lkas11={}, msg_364={},
+                         out=SimpleNamespace(vEgoRaw=5.0))
+    CC = SimpleNamespace(enabled=False, latActive=True, longActive=False,
+                         cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False))
+    actuators = SimpleNamespace(longControlState=LongCtrlState.off)
+    adas_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS", 0)], 0)
+    ecan_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0)], 1)
+
+    for steering_requested, icon, expected_status in ((True, 2, 2), (False, 1, 1)):
+      msgs = controller.create_can_msgs(steering_requested, 16 if steering_requested else 0, False,
+                                        0.0, 0.0, False, hud_control, actuators, CS, CC, icon, icon)
+      adas_parser.update([(1, [msg for msg in msgs if msg[0] == 0x50])])
+      ecan_parser.update([(1, [msg for msg in msgs if msg[0] == 0x340])])
+
+      assert adas_parser.vl["LKAS"]["LKA_ICON"] == icon
+      assert adas_parser.vl["LKAS"]["STEER_REQ"] == int(steering_requested)
+      assert ecan_parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == expected_status
+      assert ecan_parser.vl["LKAS11"]["CF_Lkas_ActToi"] == int(steering_requested)
+      assert not any(msg[0] == 0x364 for msg in msgs)
+
   def test_g70_aol_uses_active_lkas_icon(self):
     CP = CarInterface.get_params(CAR.GENESIS_G70_2020, gen_empty_fingerprint(), [], False, False, False, None)
     controller = CarController(DBC[CP.carFingerprint], CP)

starpilot/system/the_galaxy/assets/mobile/css/material.css

@@ -1833,6 +1833,69 @@ button.gx-chip:hover {
   margin-top: var(--sp-5);
 }
 
+.gx-sentry-images {
+  display: flex;
+  flex-wrap: wrap;
+  gap: var(--sp-2);
+}
+
+.gx-sentry-image-button {
+  background: transparent;
+  border: 0;
+  border-radius: var(--radius-sm);
+  cursor: zoom-in;
+  flex: 1 1 45%;
+  min-width: 120px;
+  padding: 0;
+}
+
+.gx-sentry-image-button img {
+  border-radius: var(--radius-sm);
+  display: block;
+  width: 100%;
+}
+
+.gx-sentry-image-button:focus-visible {
+  outline: 2px solid var(--primary);
+  outline-offset: 3px;
+}
+
+.gx-scrim--image-viewer {
+  padding: var(--sp-3);
+}
+
+.gx-image-viewer {
+  display: flex;
+  flex-direction: column;
+  max-height: calc(100dvh - var(--sp-6));
+  max-width: min(960px, 100%);
+  padding: var(--sp-3);
+}
+
+.gx-image-viewer__header {
+  align-items: center;
+  display: flex;
+  gap: var(--sp-2);
+  justify-content: space-between;
+  margin-bottom: var(--sp-3);
+}
+
+.gx-image-viewer__header .gx-sheet__title {
+  margin: 0;
+  min-width: 0;
+  overflow-wrap: anywhere;
+}
+
+.gx-image-viewer__image {
+  border-radius: var(--radius-sm);
+  display: block;
+  height: auto;
+  margin: auto;
+  max-height: calc(100dvh - 120px);
+  max-width: 100%;
+  object-fit: contain;
+}
+
 /* Native-style bottom sheet used for fullscreen player overlays. Kept as a
    sibling of gx-sheet so confirm dialogs keep their centered look. */
 .gx-scrim--bottomsheet {

starpilot/system/the_galaxy/assets/mobile/js/views/Sentry.js

@@ -28,14 +28,24 @@ export const Sentry = {
       liveBusy: false,
       deleteBusy: false,
       pushBusy: false,
+      selectedImage: null,
     }
   },
   created() {
     this.poll = usePolling(() => this.loadStatus(), { interval: 5000 })
     this.poll.start()
   },
-  mounted() { this.loadParams() },
-  beforeUnmount() { this.poll?.destroy() },
+  mounted() {
+    this.loadParams()
+    this._onKeydown = (event) => {
+      if (event.key === "Escape" && this.selectedImage) this.closeImage()
+    }
+    window.addEventListener("keydown", this._onKeydown)
+  },
+  beforeUnmount() {
+    this.poll?.destroy()
+    window.removeEventListener("keydown", this._onKeydown)
+  },
   computed: {
     statusText() { return String(this.status?.state || "unknown") },
     hasEvent() { return !!(this.event && this.event.eventId) },
@@ -129,6 +139,13 @@ export const Sentry = {
       const cacheKey = encodeURIComponent(this.liveCapture?.capturedAt || "")
       return cacheKey ? `${url}?t=${cacheKey}` : url
     },
+    openImage(src, alt) {
+      if (!src) return
+      this.selectedImage = { src: String(src), alt: String(alt || "Sentry capture") }
+    },
+    closeImage() {
+      this.selectedImage = null
+    },
     async enablePush() {
       if (this.pushBusy) return
       this.pushBusy = true
@@ -309,10 +326,11 @@ export const Sentry = {
           </div>
           <template v-if="Array.isArray(liveCapture.imageUrls) && liveCapture.imageUrls.length">
             <p class="gx-row__desc">Captured {{ liveCapture.capturedAt || 'just now' }}.</p>
-            <div style="display:flex; flex-wrap:wrap; gap:8px;">
-              <a v-for="(u, i) in liveCapture.imageUrls" :key="u + i" :href="liveImageUrl(u)" target="_blank" rel="noopener" style="flex:1 1 45%; min-width:120px;">
-                <img :src="liveImageUrl(u)" :alt="'Live Sentry camera ' + (i + 1)" style="width:100%; border-radius:8px; display:block;" />
-              </a>
+            <div class="gx-sentry-images">
+              <button v-for="(u, i) in liveCapture.imageUrls" :key="u + i" type="button" class="gx-sentry-image-button"
+                :aria-label="'Open Live Sentry camera ' + (i + 1)" @click="openImage(liveImageUrl(u), 'Live Sentry camera ' + (i + 1))">
+                <img :src="liveImageUrl(u)" :alt="'Live Sentry camera ' + (i + 1)" />
+              </button>
             </div>
           </template>
           <p v-else class="gx-empty">No live snapshot captured yet.</p>
@@ -341,10 +359,11 @@ export const Sentry = {
             </div>
             <p style="margin:8px 0;"><strong>{{ event.message || 'Movement detected while parked.' }}</strong></p>
             <template v-if="Array.isArray(event.imageUrls) && event.imageUrls.length">
-              <div style="display:flex; flex-wrap:wrap; gap:8px;">
-                <a v-for="(u, i) in event.imageUrls" :key="u + i" :href="u" target="_blank" rel="noopener" style="flex:1 1 45%; min-width:120px;">
-                  <img :src="u" :alt="'Sentry capture ' + (i + 1)" loading="lazy" style="width:100%; border-radius:8px; display:block;" />
-                </a>
+              <div class="gx-sentry-images">
+                <button v-for="(u, i) in event.imageUrls" :key="u + i" type="button" class="gx-sentry-image-button"
+                  :aria-label="'Open Sentry capture ' + (i + 1)" @click="openImage(u, 'Sentry capture ' + (i + 1))">
+                  <img :src="u" :alt="'Sentry capture ' + (i + 1)" loading="lazy" />
+                </button>
               </div>
             </template>
             <p v-else-if="event.kind === 'power_off'" class="gx-empty">Power-off alerts do not include camera captures because the device is shutting down.</p>
@@ -368,10 +387,11 @@ export const Sentry = {
                 </div>
                 <p style="margin:8px 0;"><strong>{{ ev.message || 'Movement detected while parked.' }}</strong></p>
                 <template v-if="Array.isArray(ev.imageUrls) && ev.imageUrls.length">
-                  <div style="display:flex; flex-wrap:wrap; gap:8px;">
-                    <a v-for="(u, i) in ev.imageUrls" :key="u + i" :href="u" target="_blank" rel="noopener" style="flex:1 1 45%; min-width:120px;">
-                      <img :src="u" :alt="'Sentry capture ' + (i + 1)" loading="lazy" style="width:100%; border-radius:8px; display:block;" />
-                    </a>
+                  <div class="gx-sentry-images">
+                    <button v-for="(u, i) in ev.imageUrls" :key="u + i" type="button" class="gx-sentry-image-button"
+                      :aria-label="'Open Sentry capture ' + (i + 1)" @click="openImage(u, 'Sentry capture ' + (i + 1))">
+                      <img :src="u" :alt="'Sentry capture ' + (i + 1)" loading="lazy" />
+                    </button>
                   </div>
                 </template>
                 <p v-else class="gx-empty">No camera images were available for this event.</p>
@@ -381,6 +401,18 @@ export const Sentry = {
           </div>
         </div>
       </GalaxySection>
+
+      <div v-if="selectedImage" class="gx-scrim gx-scrim--image-viewer" @click.self="closeImage">
+        <div class="gx-sheet gx-image-viewer" role="dialog" aria-modal="true" :aria-label="selectedImage.alt">
+          <div class="gx-image-viewer__header">
+            <span class="gx-sheet__title">{{ selectedImage.alt }}</span>
+            <button type="button" class="gx-icon-btn" aria-label="Close image" title="Close image" @click="closeImage">
+              <i class="bi bi-x-lg" aria-hidden="true"></i>
+            </button>
+          </div>
+          <img class="gx-image-viewer__image" :src="selectedImage.src" :alt="selectedImage.alt" />
+        </div>
+      </div>
     </div>
   `,
 }

starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py

@@ -489,6 +489,10 @@ def test_ui_all_remaining_classic_tools_native_no_embed():
   assert '"/sentry": Cameras' in app
   sentry = _read("js/views/Sentry.js")
   assert "GalaxyEmbed" not in sentry and "fetch(" not in sentry
+  assert "selectedImage" in sentry and "openImage" in sentry and "closeImage" in sentry
+  assert 'class="gx-scrim gx-scrim--image-viewer"' in sentry
+  assert 'aria-label="Close image"' in sentry
+  assert 'target="_blank"' not in sentry
 
   # Navigation maps + App Keys and Tuning lateral are native tabs now.
   nav = _read("js/views/Navigation.js")