Preserve Subaru lateral on fresh input after output expiry

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -1446,11 +1446,13 @@ class SelfdriveD:
                               allow_independent_brake=True, allow_independent_gas=True, now_ns=now_ns):
           user_disable = False
     from opendbc.car.hyundai.blended_stock_aol import qualified as blended_stock_qualified
+    from opendbc.car.subaru.stock_aol import qualified as subaru_stock_qualified
     if (user_disable and fresh_successor and proof[6] and not proof[7] and proof[8] and not proof[9] and
         decision.desired_lateral and not decision.desired_longitudinal and not decision.longitudinal_active and
         not self.enabled and not self.active and (
           self.CP.brand == 'toyota' and toyota_qualified(self.CP, marked_only=True) or
-          self.CP.brand == 'hyundai' and blended_stock_qualified(self.CP, marked_only=True) and
+          (self.CP.brand == 'hyundai' and blended_stock_qualified(self.CP, marked_only=True) or
+           self.CP.brand == 'subaru' and subaru_stock_qualified(self.CP, marked_only=True)) and
           not physical_cancel(CS, self.CP) and not any(physical_cancel(sample, self.CP)
             for sample, _ in getattr(self, 'car_state_samples', ()))) and
         CS.cruiseState.available and not CS.cruiseState.enabled and

openpilot/starpilot/car/subaru/tests/test_stock_aol_callers.py

@@ -23,7 +23,8 @@ from openpilot.starpilot.car.subaru.tests.native_fixture import subaru_native_pa
 
 @pytest.mark.parametrize('candidate', [CAR.SUBARU_ASCENT_2023, CAR.SUBARU_LEGACY_2025, CAR.SUBARU_CROSSTREK_2025, CAR.SUBARU_FORESTER, CAR.SUBARU_OUTBACK])
 def test_actual_full_engage_brake_reverse_temporary_recovery_mainoff(candidate, subaru_native_pair, tmp_path, aol=True, manual=False, stop_resume=False,
-                                                                      hard_stop_native_first=False, main_only=False, preferences=None, firmware=None):
+                                                                      hard_stop_native_first=False, main_only=False, preferences=None, firmware=None,
+                                                                      deadline_gap=False):
   fw = firmware_records(candidate, FW_VERSIONS, 'subaru') if firmware is None else firmware
   rows = []
   with actual_factory(candidate, gen_empty_fingerprint(), fw, '0' * 17, manual=manual, aol=aol, preferences=preferences) as (card, params, matches):
@@ -62,8 +63,9 @@ def test_actual_full_engage_brake_reverse_temporary_recovery_mainoff(candidate,
       published = {}
       ticks = (list(range(125)) + list(range(125, 135)) * 30 + list(range(135, 460))
                if hard_stop_native_first else range(460))
+      gap_tick = 75 if main_only else 210
       for elapsed, tick in enumerate(ticks):
-        now = base + elapsed * 10_000_000
+        now = base + elapsed * 10_000_000 + (22_504_479 if deadline_gap and elapsed >= gap_tick else 0)
         cruise = not main_only and (30 <= tick < 110 or tick >= 410)
         brake = 90 <= tick < 110
         reverse = 150 <= tick < 185
@@ -142,7 +144,19 @@ def test_actual_full_engage_brake_reverse_temporary_recovery_mainoff(candidate,
           _assert_hard_stop_fault_guards(card, cs, now + 2000)
         # Deliver each genuine10Hz native receipt once; do not refresh receive time/frequency from a cached snapshot.
         new_native = receipt if receipt is not None and (tick % 10 == 1 or hard_stop_receipt) else None
+        if deadline_gap and elapsed == gap_tick:
+          prior = driven['aolAxisState'].aolAxisState
+          assert prior.lateralActive and now + 2000 > prior.validUntilMonoTime
+          with patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=now + 2000):
+            expired, _ = controls.state_control()
+          assert not expired.latActive and not expired.longActive
         driven_new = selfdrive_step(sd, published, new_native, previous_controls, cp, safety, now, calibration='calibrated')
+        if deadline_gap and elapsed == gap_tick:
+          current = driven_new['aolAxisState'].aolAxisState
+          assert current.lateralActive and not sd.aol_authority_lost, 'SUBARU_FRESH_SUCCESSOR_LOST_LATERAL'
+          assert current.validUntilMonoTime > prior.validUntilMonoTime
+          assert current.sourceCarStateMonoTime == published['carState'].logMonoTime
+          assert log.OnroadEvent.EventName.controlsMismatch not in sd.events.names
         driven.update(driven_new)
         order = None
         if aol and tick % 10 == 0:
@@ -332,3 +346,31 @@ def test_actual_main_without_set_retains_native_first_stop_intent(subaru_native_
   assert all(not row['controls'] and not row['enabled'] and not row['long'] for row in rows)
   assert all(row['lat'] and row['permission'] == 1 for row in rows if 65 <= row['tick'] < 90)
   assert all(not row['lat'] and row['cardLatch'] and row['permission'] == 0 for row in rows if 125 <= row['tick'] < 135)
+
+
+@pytest.mark.parametrize('candidate', [CAR.SUBARU_IMPREZA_2020, CAR.SUBARU_CROSSTREK_2025, CAR.SUBARU_OUTBACK_2023])
+def test_actual_fresh_subaru_source_after_expired_output(candidate, subaru_native_pair, tmp_path):
+  test_actual_full_engage_brake_reverse_temporary_recovery_mainoff(
+    candidate, subaru_native_pair, tmp_path, main_only=True, deadline_gap=True)
+
+
+@pytest.mark.parametrize('event', [log.OnroadEvent.EventName.buttonCancel, log.OnroadEvent.EventName.pedalPressed])
+def test_actual_subaru_expired_output_keeps_user_disable(event, subaru_native_pair, tmp_path):
+  original = SelfdriveD._expire_axis_continuity
+
+  class ObservedVeto(Exception):
+    pass
+
+  def check(sd, state, now_ns):
+    proof = getattr(sd, 'aol_step_input_proof', None)
+    if proof is not None and now_ns > proof[3] and sd.aol_axis_decision.lateral_active:
+      sd.events.add(event)
+      assert original(sd, state, now_ns)
+      assert not sd.aol_axis_decision.lateral_active and not sd.aol_axis_decision.longitudinal_active
+      assert sd.aol_authority_lost and event in sd.events.names
+      raise ObservedVeto
+    return original(sd, state, now_ns)
+
+  with patch.object(SelfdriveD, '_expire_axis_continuity', check), pytest.raises(ObservedVeto):
+    test_actual_full_engage_brake_reverse_temporary_recovery_mainoff(
+      CAR.SUBARU_IMPREZA_2020, subaru_native_pair, tmp_path, main_only=True, deadline_gap=True)

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "a65a390042e7d02f1180f79f6ad3e95c80ce96be9f44cc1230ff7afe2fad885c", "schema_version": 1}
+{"protected_inventory_sha256": "f3cbd9d2514303e843886fe9f41e889230548c79348ceebfe580f2ce930e5ba6", "schema_version": 1}