Restore Small UI sign and parked Galaxy offroad

2026-10-29 09:33:48 +08:00 · 2026-10-22 10:52:58 -05:00
parent 9ab83d8d59
commit d69a9f4db5
10 changed files with 61 additions and 40 deletions
@@ -31,13 +31,20 @@ class DriveStateControl:
              'overrideAllowed': self.cached[2], 'reason': self.cached[3]}

  def change(self, mode, revision, authorized):
-    # Deliberate local requests may stop driving services while moving; Galaxy rejects Offroad in its action handler.
+    # Deliberate local requests may stop driving services while moving; Galaxy uses a separate Park-checked request.
    result = self.owner.request(mode, expected_revision=revision, authorized=authorized,
                                override_allowed=lambda: True)
    with self.lock:
      self.cached = None
    return result

+  def change_galaxy(self, mode, revision, authorized):
+    result = self.owner.request(mode, expected_revision=revision, authorized=authorized,
+                                override_allowed=lambda: self.physical.status(require_park=True)['allowed'])
+    with self.lock:
+      self.cached = None
+    return result
+
  @staticmethod
  def next_mode(status):
    mode = Mode(status['mode'])
@@ -22,7 +22,7 @@ class PhysicalSource:
  def allowed(self) -> bool:
    return self.status()['allowed']

-  def status(self, *, updating_offroad=False):
+  def status(self, *, updating_offroad=False, require_park=False):
    def result(allowed, reason=None):
      return {'allowed': bool(allowed), 'reason': reason}
    with self.lock:
@@ -66,7 +66,7 @@ class PhysicalSource:
        if len(pandas) == 0 or any(str(p.pandaType) == 'unknown' for p in pandas):
          return result(False, 'No recognized Panda is reporting vehicle status')
        ignition = any(p.ignitionLine or p.ignitionCan for p in pandas)
-        if not ignition or updating_offroad and all(str(p.safetyModel) == 'noOutput' and not p.controlsAllowed for p in pandas):
+        if not require_park and (not ignition or updating_offroad and all(str(p.safetyModel) == 'noOutput' and not p.controlsAllowed for p in pandas)):
          safe = all(str(p.safetyModel) == 'noOutput' and not p.controlsAllowed for p in pandas)
          return result(safe, None if safe else 'Panda must confirm noOutput safety and controls disabled')
        if not fresh('carState', True):
@@ -181,3 +181,14 @@ def test_forced_offroad_update_rechecks_freshness(fixture, service):
  assert f.source.update_ready(True)
  f.sm.logMonoTime[service] = 1
  assert not f.source.update_ready(True)
+
+
+@pytest.mark.parametrize('ignition', [False, True])
+@pytest.mark.parametrize('gear', ['park', 'drive', 'reverse', 'neutral', 'unknown'])
+def test_galaxy_requires_fresh_explicit_park_even_with_ignition_off(fixture, ignition, gear):
+  f = fixture
+  f.sm.values['pandaStates'][0].ignitionLine = ignition
+  f.sm.values['carState'].gearShifter = gear
+  assert f.source.status(require_park=True)['allowed'] == (gear == 'park')
+  f.sm.logMonoTime['carState'] = 1
+  assert not f.source.status(require_park=True)['allowed']
@@ -20,7 +20,7 @@ class ForceHttpTest(helpers.NavigationHttpTest):
    self.drive = DriveStateOwner(self.params, Path(temporary.name) / 'drive', alive=lambda _: True)
    self.drive.initialize(pid=1, birth=2, boot=BOOT)
    self.allowed = True
-    self.physical = NS(allowed=lambda: self.allowed)
+    self.physical = NS(allowed=lambda: self.allowed, status=lambda **kwargs: {"allowed": self.allowed, "reason": None})
    self.control = DriveStateControl(self.drive, self.physical, effective=lambda: False)
    original = helpers.make_server
    with patch.object(helpers, 'make_server', side_effect=lambda **kwargs: original(**kwargs, drive_state=self.control)):
@@ -41,17 +41,17 @@ class ForceHttpTest(helpers.NavigationHttpTest):
    self.assertEqual((result[1]['mode'], result[1]['effective']), ('onroad', 'offroad'))
    status = self.request('/api/drive-state/status', remote=True, cookie=self.remote_cookie)
    self.assertEqual(status[1]['revision'], result[1]['revision'])
-    self.assertEqual(self.drive_action('offroad', remote=True)[0], 403)
+    self.assertEqual(self.drive_action('offroad', remote=True)[0], 200)
    self.control.change('offroad', self.drive.snapshot().revision, lambda: True)
    self.assertEqual(self.drive_action('auto', revision=result[1]['revision'])[0], 409)

-  def test_galaxy_blocks_offroad_but_onroad_and_auto_remain_recoverable(self):
-    self.assertEqual(self.drive_action('offroad')[0], 403)
+  def test_galaxy_requires_park_but_onroad_and_auto_remain_recoverable(self):
+    self.assertEqual(self.drive_action('offroad')[0], 200)
    self.control.change('offroad', self.drive.snapshot().revision, lambda: True)
    self.allowed = False
    self.assertEqual(self.drive_action('onroad')[0], 200)
    self.assertEqual(self.drive.snapshot().mode, Mode.ONROAD)
-    self.assertEqual(self.drive_action('offroad')[0], 403)
+    self.assertEqual(self.drive_action('offroad')[0], 409)
    self.assertEqual(self.drive.snapshot().mode, Mode.ONROAD)
    self.assertEqual(self.drive_action('auto', remote=True)[0], 200)
    self.assertEqual(self.drive.snapshot().mode, Mode.AUTO)
@@ -62,7 +62,7 @@ class ForceHttpTest(helpers.NavigationHttpTest):
    self.assertEqual(self.drive_action('onroad', origin='https://unrelated.invalid')[0], 403)
    self.assertEqual(self.drive_action('badmode')[0], 409)
    self.assertEqual(self.params.writes, before)
-    original_change = self.control.change
+    original_change = self.control.change_galaxy

    def revoke_remote(mode, revision, authorized):
      self.assertEqual(mode, 'onroad')
@@ -71,7 +71,7 @@ class ForceHttpTest(helpers.NavigationHttpTest):
      self.assertFalse(authorized())
      return original_change(mode, revision, authorized)

-    with patch.object(self.control, 'change', side_effect=revoke_remote):
+    with patch.object(self.control, 'change_galaxy', side_effect=revoke_remote):
      self.assertEqual(self.drive_action('onroad', remote=True)[0], 409)
    self.assertEqual(self.params.writes, before)

@@ -82,14 +82,15 @@ class ForceHttpTest(helpers.NavigationHttpTest):
    self.control.change('offroad', self.drive.snapshot().revision, lambda: True)
    self.assertEqual(self.drive.snapshot().mode, Mode.OFFROAD)

-  def test_galaxy_force_offroad_never_reaches_owner_for_local_or_remote_sessions(self):
+  def test_galaxy_offroad_rechecks_park_for_local_and_remote_sessions(self):
    for remote in (False, True):
-      for allowed in (False, True):
-        self.allowed = allowed
-        before = list(self.params.writes)
-        with patch.object(self.control, 'change', side_effect=AssertionError('Galaxy must reject before dispatch')):
-          self.assertEqual(self.drive_action('offroad', remote=remote)[0], 403)
-        self.assertEqual(self.params.writes, before)
+      self.allowed = False
+      before = list(self.params.writes)
+      self.assertEqual(self.drive_action('offroad', remote=remote)[0], 409)
+      self.assertEqual(self.params.writes, before)
+      self.allowed = True
+      self.assertEqual(self.drive_action('offroad', remote=remote)[0], 200)
+      self.assertEqual(self.drive_action('auto', remote=remote)[0], 200)

  def test_authenticated_force_offroad_from_live_onroad_state(self):
    self._force_offroad_from_live_onroad_state(True)
@@ -117,7 +118,7 @@ class ForceHttpTest(helpers.NavigationHttpTest):
    self.assertEqual(status[1]['effective'], 'onroad')
    self.assertEqual(status[1]['overrideAllowed'], can_valid)
    result = self.drive_action('offroad', remote=True)
-    self.assertEqual(result[0], 403)
+    self.assertEqual(result[0], 200 if can_valid else 409)
    self.control.change('offroad', self.drive.snapshot().revision, lambda: True)
    self.assertEqual(self.drive.snapshot().mode, Mode.OFFROAD)
    # hardwared consumes this same owner request through the actual resolver.
@@ -111,13 +111,10 @@ def change_drive_state(self, payload, effect_lock, drive_owner):
      len(payload['revision']) != 32):
    self.json(400, {'error': 'Invalid drive state request'})
    return
-  if payload['mode'] == 'offroad':
-    self.json(403, {'error': 'Use the in-car Force Off-road control'})
-    return
  from openpilot.starpilot.drive_state.owner import Rejected
  try:
    with effect_lock:
-      drive_owner().change(payload['mode'], payload['revision'], lambda: self.settings_session() == identity)
+      drive_owner().change_galaxy(payload['mode'], payload['revision'], lambda: self.settings_session() == identity)
    result = drive_owner().snapshot()
  except Rejected as error:
    self.json(409, {'error': str(error)})
@@ -30,16 +30,14 @@ assert.equal(denied.error,'Drive state unavailable')
 console.log('PASS: strict status; captured revision; aborted/out-of-order status; requested versus effective; unmount; unauthorized state')

 const onroad=panel();onroad.state={...snapshot(),effective:'onroad',overrideAllowed:false}
-globalThis.window={confirm:()=>false}
-const before=requests.length
-await onroad.change('offroad');assert.equal(requests.length,before)
-window.confirm=()=>true
-await onroad.change('offroad');assert.equal(requests.length,before)
-onroad.state.overrideAllowed=true
-await onroad.change('offroad');assert.equal(requests.length,before)
-assert.match(DriveStatePanel.template, /\['onroad', 'auto'\]/)
-assert.doesNotMatch(DriveStatePanel.template, /v-for="mode in \['offroad'/)
-
+let before=requests.length
+const forceOffroad=onroad.change('offroad')
+assert.equal(requests.length,before+1)
+assert.equal(JSON.parse(requests.at(-1).options.body).mode,'offroad')
+requests.at(-1).resolve(response({error:'Park the vehicle'},409));await flush()
+requests.at(-1).resolve(response(snapshot()));await forceOffroad;await flush()
+assert.match(DriveStatePanel.template,/role="switch"/)
+before=requests.length
 // A missing parked admission must not disable Galaxy Force Onroad.
 onroad.state.overrideAllowed=false
 const forceOnroad=onroad.change('onroad')
@@ -50,4 +48,4 @@ requests.at(-1).resolve(response(live));await flush()
 requests.at(-1).resolve(response(live));await forceOnroad;await flush()
 assert.equal(onroad.state.mode,'onroad')
 assert.equal(DriveStatePanel.computed.pending.call(onroad),false)
-console.log('PASS: Galaxy has no Offroad action; direct JS Offroad dispatch is ignored; Force Onroad works without parked admission')
+console.log('PASS: Galaxy Offroad dispatch uses server admission; Force Onroad remains available')
@@ -6,6 +6,7 @@ export const validDriveState = (value) => !!value && ["auto", "offroad", "onroad

 export const DriveStatePanel = {
  components: { GxNotice },
+  props: { offroadOnly: { type: Boolean, default: false } },
  data: () => ({ state: null, error: "", busy: false }),
  computed: {
    pending() { return this.state?.mode !== "auto" && this.state?.effective !== this.state?.mode },
@@ -35,7 +36,7 @@ export const DriveStatePanel = {
    },
    async change(mode) {
      if (this.busy || !this.state?.available) return
-      if (!["onroad", "auto"].includes(mode)) return
+      if (!["onroad", "offroad", "auto"].includes(mode)) return
      const revision = this.state.revision
      this.busy = true
      this.loading = false
@@ -59,8 +60,12 @@ export const DriveStatePanel = {
    <GxNotice tone="danger" v-if="state && !state.available">The drive-state manager is unavailable. Reconnect to check again.</GxNotice>
    <GxNotice v-if="pending" tone="info">Waiting for the device to switch {{ state.mode }}…</GxNotice>
    <p>Device: {{ state?.effective === "onroad" ? "Onroad" : state?.effective === "offroad" ? "Offroad" : "Checking…" }}</p>
-    <p>Auto follows the car. Force Onroad starts driving services at any time. Return to Auto restores normal operation.</p>
-    <div class="gx-force-drive__actions gx-actions"><button v-for="mode in ['onroad', 'auto']" :key="mode" type="button"
+    <p v-if="!offroadOnly">Auto follows the car. Force Onroad starts driving services at any time. Return to Auto restores normal operation.</p>
+    <label v-if="offroadOnly" class="gx-row"><span>Force Offroad</span><input type="checkbox" role="switch"
+      :checked="state?.mode === 'offroad'" :disabled="!state?.available"
+      @change="change($event.target.checked ? 'offroad' : 'auto')" /></label>
+    <p v-if="offroadOnly" class="gx-note">Park the vehicle and disengage controls to enable. Turn off to restore automatic drive state.</p>
+    <div v-if="!offroadOnly" class="gx-force-drive__actions gx-actions"><button v-for="mode in ['onroad', 'auto']" :key="mode" type="button"
      class="gx-btn" :class="state?.mode === mode ? '' : 'gx-btn--tonal'"
      :disabled="!state?.available"
      :aria-pressed="state?.mode === mode" @click="change(mode)">{{ mode === 'auto' ? 'Return to Auto' : 'Onroad' }}</button></div>
@@ -1,3 +1,4 @@
+import { DriveStatePanel } from "./drive-state.js"
 import { GxDialog } from "./dialog.js"
 import { GxState } from "./state.js"
 import { GxNotice } from "./notice.js"
@@ -316,7 +317,7 @@ export class SoftwareStatusFeed {
 }

 export const SoftwarePage = {
-  components: { GxDialog, GxState, GxNotice, GalaxySelect, GalaxySettingRow, ToggleBackup },
+  components: { DriveStatePanel, GxDialog, GxState, GxNotice, GalaxySelect, GalaxySettingRow, ToggleBackup },
  name: "SoftwarePage",
  props: { mode: { type: String, required: true }, unauthorized: { type: Function, required: true }, restarting: { type: Function, default: () => {} },
    preparing: { type: Function, default: () => {} }, cancelPreparation: { type: Function, default: () => {} } },
@@ -531,7 +532,7 @@ export const SoftwarePage = {
            :index="0" :busy="busy" :disabled="uncertain || !!error || !operations.canConfigure"
            :save-value="(index, value) => feed.configureAutomaticDownloads(value === 'On')" />
          <p v-if="operations?.automaticDownloads === null" class="gx-note">The download preference could not be read. Choose a setting while parked to repair it.</p>
-          <details v-if="data" class="gx-software-options"><summary>Advanced options</summary><div class="gx-stack">
+          <details v-if="data" class="gx-software-options"><summary>Advanced options</summary><div class="gx-stack"><DriveStatePanel offroad-only />
            <div class="gx-software-branch"><label class="gx-field-group gx-grow"><span class="gx-row__label">Branch</span>
              <GalaxySelect v-model="primaryChoice" class="gx-field gx-field--full" aria-label="Target branch" :disabled="actionUnavailable || !operations.canSelect" @change="onPrimaryBranchChange">
                <option value="" disabled>Choose a branch</option>
@@ -121,7 +121,8 @@ class SpeedLimitWidget:
        centered(shown.offset_text, FontRole.MEDIUM, size, offset_top, color)
    else:
      rect = rl.Rectangle(x + 2 * scale, top + 2 * scale, 114 * scale, 128 * scale)
-      rl.draw_rectangle_rounded(rect, .1, 16, rl.Color(10, 17, 19, 230))
+      if self.profile == Profile.LARGE:
+        rl.draw_rectangle_rounded(rect, .1, 16, rl.Color(10, 17, 19, 230))
      rl.draw_rectangle_rounded_lines_ex(rect, .1, 16, 2 * scale, white)
      for label, y in (('SPEED', top + 11 * scale), ('LIMIT', top + 27 * scale)):
        centered(label, FontRole.SEMI_BOLD, 20, y, white, x + (53 if arrow_direction else 59) * scale)
@@ -1 +1 @@
-{"protected_inventory_sha256": "bde512e64cf3c779bbba6f7d3b24e8733a168129e314fe6aa2144ccdd030c827", "schema_version": 1}
+{"protected_inventory_sha256": "9d2ea7161b8e2925fa3c7e55d07bea76744c4ae40d1e0926ae03b0d0acfe22a1", "schema_version": 1}