the day of the push

selfdrive/controls/tests/test_drive_helpers.py

@@ -28,3 +28,7 @@ def test_kona_non_scc_aol_gate_does_not_change_fault_or_normal_lateral_gates():
   assert get_kona_non_scc_lateral_active(
     True, True, False, False, False, False, False, True, True, False,
   )
+
+
+def test_get_lateral_active_honors_manual_pause_while_cruise_is_engaged():
+  assert not get_lateral_active(True, True, False, False, False, False, False, False)

selfdrive/controls/tests/test_starpilot_planner.py

@@ -120,6 +120,20 @@ def test_standstill_without_turn_signal_keeps_lateral_allowed(monkeypatch):
     planner.shutdown()
 
 
+def test_manual_lateral_pause_blocks_lateral_while_cruise_is_enabled(monkeypatch):
+  planner = make_planner(monkeypatch)
+
+  try:
+    sm = make_sm(planner, frame=1, v_ego=20.0, left_blinker=False)
+    sm["starpilotCarState"].pauseLateral = True
+
+    planner.update(0.0, False, sm, make_toggles())
+
+    assert planner.lateral_check is False
+  finally:
+    planner.shutdown()
+
+
 def test_pulse_glide_target_is_published_after_vcruise_update(monkeypatch):
   planner = make_planner(monkeypatch)
 

selfdrive/ui/lib/starpilot_state.py

@@ -42,7 +42,6 @@ class StarPilotCarState:
     canUseSDSU: bool = False
 
     # ========== Device/Car State ==========
-    isFrogsGoMoo: bool = False
     hasPCMCruise: bool = False
     hasModeStarButtons: bool = False
     lkasAllowedForAOL: bool = False

selfdrive/ui/mici/layouts/settings/software.py

@@ -2,8 +2,6 @@ import os
 import threading
 from collections.abc import Callable
 from enum import IntEnum
-from functools import cache
-from pathlib import Path
 
 import pyray as rl
 
@@ -13,7 +11,6 @@ from openpilot.selfdrive.ui.mici.layouts.settings.device import EngagedConfirmat
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigParamControl
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.hardware.hw import Paths
 from openpilot.system.ui.lib.application import FontWeight, MousePos, gui_app
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
@@ -23,11 +20,6 @@ from openpilot.system.ui.widgets.scroller import NavScroller
 UPDATER_TIMEOUT = 10.0
 
 
-@cache
-def _is_frogs_go_moo() -> bool:
-  return (Path(Paths.persist_root()) / "frogsgomoo.py").is_file()
-
-
 def _split_description(desc: str) -> tuple[str, str, str, str] | None:
   parts = [p.strip() for p in desc.split(" / ")]
   if len(parts) != 4:
@@ -233,10 +225,9 @@ class BranchSelectPage(NavScroller):
     branches_str = params.get("UpdaterAvailableBranches") or ""
     branches = [b for b in branches_str.split(",") if b]
 
-    if not _is_frogs_go_moo():
-      for hidden_branch in ("StarPilot-Vetting", "MAKE-PRS-HERE"):
-        if hidden_branch in branches:
-          branches.remove(hidden_branch)
+    for hidden_branch in ("StarPilot-Vetting", "MAKE-PRS-HERE"):
+      if hidden_branch in branches:
+        branches.remove(hidden_branch)
 
     for branch in [current_git_branch, "devel-staging", "devel", "nightly", "nightly-dev", "master"]:
       if branch in branches:

selfdrive/ui/tests/test_starpilot_navigation_structure.py

@@ -24,7 +24,6 @@ if "openpilot.starpilot.common.starpilot_variables" not in sys.modules:
     sv_mod.MODELS_PATH = "/tmp"
     sv_mod.EARTH_RADIUS = 6371000
     sv_mod.STARPILOT_API = ""
-    sv_mod.FROGS_GO_MOO_PATH = "/tmp"
     sv_mod.KONIK_PATH = "/tmp"
     sys.modules["openpilot.starpilot.common.starpilot_variables"] = sv_mod
 
@@ -362,4 +361,3 @@ def test_breadcrumb_panel_stack_unwinds_nav_stack(monkeypatch):
   assert len(layout._panel_stack) == 1
   assert layout._panel_stack[0] == (StarPilotPanelType.MAPS, "sub1")
 
-