Fix Laboratory startup and steering availability display

openpilot/selfdrive/modeld/modeld.py

@@ -554,7 +554,8 @@ def main(demo=False):
       meta_extra = meta_main
 
     sm.update(0)
-    turn_supported = bool(model.npy.get('desire') is not None and model.npy['desire'].shape[-1] == 8)
+    turn_models = (model.lateral, model.longitudinal) if isinstance(model, LaboratoryPair) else (model,)
+    turn_supported = all(state.npy.get('desire') is not None and state.npy['desire'].shape[-1] == 8 for state in turn_models)
     desire = navigation_turn.select(sm, time.monotonic_ns(), DH.desire,
                                      supported=turn_supported, model_stop=bool(prev_action.shouldStop))
     is_rhd = sm["driverMonitoringState"].isRHD

openpilot/starpilot/models/tests/test_laboratory_runner.py

@@ -36,6 +36,29 @@ class TestLaboratoryFrame(unittest.TestCase):
     return pair.run_frame(*frame_inputs(pair.lateral), log.ModelDataV2.Action(), .2, .2, 20.,
                           long_smooth_seconds=0., **kwargs)
 
+  def test_actual_modeld_turn_capability_supports_pairs_before_first_frame(self):
+    import ast
+    from types import SimpleNamespace
+    source = Path(__file__).resolve().parents[3] / "selfdrive/modeld/modeld.py"
+    main = next(node for node in ast.parse(source.read_text()).body if isinstance(node, ast.FunctionDef) and node.name == "main")
+    assignments = [node for node in ast.walk(main) if isinstance(node, ast.Assign) and
+                   any(isinstance(target, ast.Name) and target.id in ("turn_models", "turn_supported") for target in node.targets)]
+    caller = compile(ast.fix_missing_locations(ast.Module(body=assignments, type_ignores=[])), str(source), "exec")
+    def supported(model):
+      scope = {"model": model, "LaboratoryPair": LaboratoryPair}
+      exec(caller, scope)
+      return scope["turn_supported"]
+    pair = make_pair()
+    self.assertTrue(supported(pair))
+    self.assertTrue(supported(pair.lateral))
+    self.run_frame(pair)
+    for role in (pair.lateral, pair.longitudinal):
+      original = role.npy["desire"]
+      role.npy["desire"] = np.zeros((1, 5), dtype=np.float32)
+      self.assertFalse(supported(pair))
+      role.npy["desire"] = original
+    self.assertFalse(supported(SimpleNamespace(npy={})))
+
   def test_sequential_frame_one_warp_independent_actions_and_current_frame_pose(self):
     pair = make_pair()
     callback = Mock()

openpilot/starpilot/ui/onroad.py

@@ -85,7 +85,7 @@ def clock_text(now: datetime | None = None, use_24_hour: bool = False) -> str:
 
 def axis_status_color(state: OnroadState) -> rl.Color:
   """Retain StarPilot's existing off, AOL, long-only, and combined edge colors."""
-  lateral = state.lateral_active if state.aol_latched is None else state.aol_latched
+  lateral = state.lateral_active and state.aol_latched is not False
   if state.driver_override_active or state.longitudinal_overridden:
     return rl.Color(145, 155, 149, 255)
   if lateral and state.switchback_mode:

openpilot/starpilot/ui/tests/test_onroad_axes.py

@@ -55,7 +55,7 @@ class TestOnroadAxes(unittest.TestCase):
     intent = IntentState('card-ui', 1, NOW, NOW, NOW + 200_000_000, False, True, False, True, armed)
     self.ui.sm.put('aolIntentWire', encode_intent(replace(intent, **changes)))
 
-  def test_latch_keeps_border_blue_through_standstill_min_speed_and_reverse(self):
+  def test_armed_latch_keeps_intent_but_not_active_color_when_steering_pauses(self):
     self.ui.aol_runtime = True
     self.publish_latch()
     for brand in ('hyundai', 'gm', 'toyota', 'ford', 'honda'):
@@ -67,11 +67,21 @@ class TestOnroadAxes(unittest.TestCase):
           paused = self.state(False, False)
           self.assertTrue(getattr(paused, "aol_latched", False))
           self.assertFalse(paused.lateral_active or paused.longitudinal_active or paused.engaged)
-          self.assertEqual(rgba(axis_status_color(paused)), (10, 186, 181, 255))
+          self.assertEqual(rgba(axis_status_color(paused)), (18, 40, 57, 255))
     self.publish_latch(False)
     self.assertFalse(self.state(False, False).aol_latched)
     self.assertEqual(rgba(axis_status_color(self.state(False, False))), (18, 40, 57, 255))
 
+  def test_missing_model_cannot_show_armed_aol_as_active_steering(self):
+    self.ui.aol_runtime = True
+    self.publish_latch()
+    self.ui.sm.valid["modelV2"] = False
+    current = self.state(False, False)
+    self.assertTrue(current.aol_latched)
+    self.assertFalse(current.lateral_active)
+    self.assertEqual(rgba(axis_status_color(current)), (18, 40, 57, 255))
+    self.assertEqual(rgba(axis_status_color(self.state(True, False))), (10, 186, 181, 255))
+
   def test_cleared_latch_does_not_borrow_previous_active_steering_color(self):
     self.ui.aol_runtime = True
     self.publish_latch()
@@ -280,9 +290,9 @@ class TestOnroadAxes(unittest.TestCase):
       (OnroadAlert(size=AlertSize.FULL), blue), (OnroadAlert(size=AlertSize.SMALL, critical=True), blue))]
     cases = [(*case, None) for case in cases]
     cases += [(False, False, False, alert, color, True) for alert, color in (
-      (OnroadAlert(), (10, 186, 181, 255)),
-      (OnroadAlert(size=AlertSize.SMALL, text1='Steering Paused'), (10, 186, 181, 255)),
-      (OnroadAlert(size=AlertSize.MID), (10, 186, 181, 255)),
+      (OnroadAlert(), (18, 40, 57, 255)),
+      (OnroadAlert(size=AlertSize.SMALL, text1='Steering Paused'), (18, 40, 57, 255)),
+      (OnroadAlert(size=AlertSize.MID), (18, 40, 57, 255)),
       (OnroadAlert(size=AlertSize.FULL), blue), (OnroadAlert(size=AlertSize.SMALL, critical=True), blue))]
     cases = [(*case, False) for case in cases]
     cases += [(True, True, override, alert, color, None, True) for override, alert, color in (
@@ -313,6 +323,7 @@ class TestOnroadAxes(unittest.TestCase):
           view.background_layer = None
           view.projection_viewport = None
           view._corner_cache = Mock()
+          view._fade = Mock()
           view.current_speed = Mock()
           view.steering_wheel = Mock()
           view.compact_hud = Mock()

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "5e06dbdb156ebe4d76043011c609ca086c212663a43593ec4e5696616d487817", "schema_version": 1}
+{"protected_inventory_sha256": "95956b8fbe518cf5d2f9fce5f44218c400ad2fafda771fab3412ffd45be77668", "schema_version": 1}