Hyundai: hotfix platform-specific control status

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -10,8 +10,9 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_an
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, HyundaiSafetyFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                        CANFD_RADAR_LIVE_LONGITUDINAL_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
+from opendbc.car.hyundai.values import HyundaiFlags, HyundaiSafetyFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, \
+                                        CANFD_ANGLE_LONGITUDINAL_CAR, CANFD_RADAR_ECU_KEEPALIVE_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, \
+                                        kia_ev6_gt_line_longitudinal_tuning, \
                                         KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.vehicle_model import VehicleModel
@@ -859,10 +860,9 @@ class CarController(CarControllerBase):
     can_sends = []
 
     lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
-    longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
-    lfa_status_cars = (CAR.HYUNDAI_IONIQ_6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
+    persistent_lfa_status_cars = (CAR.HYUNDAI_IONIQ_6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, CAR.KIA_EV6)
     lfa_longitudinal_active = self.CP.openpilotLongitudinalControl \
-      if self.CP.carFingerprint in lfa_status_cars else longitudinal_active
+      if self.CP.carFingerprint in persistent_lfa_status_cars else self.long_active_ecu
     lka_steering_long = lka_steering and lfa_longitudinal_active
     ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
     use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
@@ -889,11 +889,10 @@ class CarController(CarControllerBase):
 
     gear = getattr(getattr(CS, "out", None), "gearShifter", None)
     drive_gear = gear == structs.CarState.GearShifter.drive
-    if angle_lkas_alt:
+    if angle_lkas_alt and self.CP.carFingerprint != CAR.KIA_SPORTAGE_HEV_2026:
       steering_msg_active = bool(steering_msg_active and drive_gear)
     angle_lkas_alt_standstill_handoff = bool(getattr(CS.out, "standstill", False) and not CC.latActive)
-    forward_stock_lkas = (self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR or
-                          self.CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026) and angle_lkas_alt and (
+    forward_stock_lkas = self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR and angle_lkas_alt and (
       angle_lkas_alt_standstill_handoff or not (drive_gear and (CC.latActive or CC.enabled))
     )
     preserve_stock_lfa_status = preserve_stock_canfd_lfa_status(self.CP.carFingerprint)
@@ -920,7 +919,7 @@ class CarController(CarControllerBase):
 
     # prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
     suppress_lfa = bool(lka_steering)
-    if angle_lkas_alt:
+    if angle_lkas_alt and self.CP.carFingerprint != CAR.KIA_SPORTAGE_HEV_2026:
       suppress_lfa = bool(lka_steering and drive_gear and (CC.latActive or (ccnc_angle_long and CC.enabled)))
     if self.frame % 5 == 0 and suppress_lfa:
       can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
@@ -995,7 +994,7 @@ class CarController(CarControllerBase):
         # The front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
         # and stops publishing object tracks when it disappears.
         radar_heartbeat_step = 1 if ccnc_angle_long else 4
-        if self.CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and self.frame % radar_heartbeat_step == 0:
+        if self.CP.carFingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR and self.frame % radar_heartbeat_step == 0:
           can_sends.append(hyundaicanfd.create_accelerator_brake_alt_spoof(0, self.frame // radar_heartbeat_step,
                                                                             CS.out.brakePressed, CS.out.gasPressed,
                                                                             self.CP.carFingerprint))

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -142,7 +142,21 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
     lkas_values["LKAS_ANGLE_ACTIVE"] = 2 if lat_active else 1
     lkas_values["ADAS_ACIAnglTqRedcGainVal"] = apply_torque if lat_active else 0.0
     if angle_lkas_alt:
-      if lat_active:
+      if CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026:
+        lkas_values = {
+          "LKA_OptUsmSta": 0,
+          "LKA_SysIndReq": 2 if enabled else 1,
+          "StrTqReqVal": 0,
+          "LKA_SysWrn": 0,
+          "ActToiSta": 0,
+          "LKA_UsmMod": 0,
+          "LKA_RcgSta": 3 if lat_active else 0,
+          "Damping_Gain": 100,
+          "ADAS_StrAnglReqVal": apply_angle,
+          "LKAS_ANGLE_ACTIVE": 2 if lat_active else 1,
+          "ADAS_ACIAnglTqRedcGainVal": apply_torque if lat_active else 0.0,
+        }
+      elif lat_active:
         lkas_values = {
           "LKA_OptUsmSta": 0,
           "LKA_RcgSta": 3,

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -7,7 +7,7 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
                                                    CANFD_SECURITYACCESS_CAR, \
                                                    CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                                   CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
+                                                   CANFD_RADAR_ECU_KEEPALIVE_CAR, \
                                                    RADAR_LIVE_LONGITUDINAL_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
                                                    LEGACY_LONGITUDINAL_CAR, \
@@ -27,6 +27,15 @@ from openpilot.starpilot.common.testing_grounds import testing_ground
 ButtonType = structs.CarState.ButtonEvent.Type
 Ecu = structs.CarParams.Ecu
 
+
+def get_communication_control_request(car_fingerprint):
+  if car_fingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR:
+    return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
+                  uds.MESSAGE_TYPE.NORMAL])
+
+  return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
+                uds.MESSAGE_TYPE.NORMAL])
+
 # Cancel button can sometimes be ACC pause/resume button, main button can also enable on some cars
 ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.cancel, ButtonType.mainCruise)
 
@@ -353,14 +362,7 @@ class CarInterface(CarInterfaceBase):
     params = Params()
 
     if communication_control is None:
-      if CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR:
-        # Don't use 0x80 suppress bit so we can read the ECU response.
-        # Use ENABLE_RX_DISABLE_TX (0x01) so the ECU can still receive from rear radars for BSM
-        # while blocking SCC TX.
-        communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
-      else:
-        # 0x80 silences response for other cars (original behavior)
-        communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
+      communication_control = get_communication_control_request(CP.carFingerprint)
 
     ecu_log(f"=== init() called: opLong={CP.openpilotLongitudinalControl}, flags=0x{CP.flags:x}, safetyParam={CP.safetyConfigs[-1].safetyParam} ===")
 

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

@@ -4,7 +4,7 @@ from types import SimpleNamespace
 import pytest
 
 from opendbc.can import CANPacker, CANParser
-from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs
+from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs, uds
 from opendbc.car.structs import CarControl, CarParams
 from opendbc.car.fw_versions import build_fw_dict, match_fw_to_car
 from opendbc.car.hyundai.carcontroller import CarController, CANCEL_BUTTON_DELAY_FRAMES, Ioniq6LongitudinalTuningState, GenesisG90LongitudinalTuningState, \
@@ -24,7 +24,7 @@ from opendbc.car.hyundai.carcontroller import CarController, CANCEL_BUTTON_DELAY
                                              clear_ioniq_6_torque_when_request_inactive
 from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
                                              get_canfd_cruise_available
-from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX
+from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX, get_communication_control_request
 from opendbc.car.hyundai import hyundaican, hyundaicanfd
 from opendbc.car.hyundai.hyundaicanfd import CanBus, hkg_can_fd_checksum
 from opendbc.car.hyundai.radar_interface import MRREVO14F_RADAR_START_ADDR, MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, \
@@ -129,6 +129,19 @@ def get_test_toggles() -> SimpleNamespace:
 
 
 class TestHyundaiFingerprint:
+  @pytest.mark.parametrize("car", [
+    CAR.HYUNDAI_IONIQ_5,
+    CAR.KIA_EV6,
+    CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+  ])
+  def test_hda2_cars_without_radar_keepalive_use_stock_communication_control(self, car):
+    stock_request = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x83, uds.MESSAGE_TYPE.NORMAL])
+    radar_keepalive_request = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL,
+                                     uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
+
+    assert get_communication_control_request(car) == stock_request
+    assert get_communication_control_request(CAR.HYUNDAI_IONIQ_6) == radar_keepalive_request
+
   def test_carnival_hev_low_speed_torque_rate_limits(self):
     CP = CarInterface.get_params(CAR.KIA_CARNIVAL_HEV_4TH_GEN, gen_empty_fingerprint(), [],
                                  False, False, False, None)
@@ -2552,9 +2565,10 @@ class TestHyundaiFingerprint:
                       if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
     assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
 
-  def test_ioniq_6_keeps_lfa_status_when_longitudinal_is_inactive(self):
+  @pytest.mark.parametrize("car", [CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN])
+  def test_egmp_keeps_lfa_status_when_longitudinal_is_inactive(self, car):
     CP = CarParams.new_message()
-    CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
+    CP.carFingerprint = car
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
     CP.openpilotLongitudinalControl = True
 
@@ -2575,6 +2589,38 @@ class TestHyundaiFingerprint:
                                         cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
     assert any(addr == 0x12A for addr, _, _ in msgs)
 
+  @pytest.mark.parametrize(("car", "powertrain_flag"), [
+    (CAR.HYUNDAI_IONIQ_5, HyundaiFlags.EV),
+    (CAR.KIA_CARNIVAL_2025, 0),
+    (CAR.KIA_CARNIVAL_HEV_4TH_GEN, HyundaiFlags.HYBRID),
+  ])
+  def test_hda2_keeps_lfa_status_while_longitudinal_ecu_is_disabled(self, car, powertrain_flag):
+    CP = CarParams.new_message()
+    CP.carFingerprint = car
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | powertrain_flag)
+    CP.openpilotLongitudinalControl = True
+
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 1
+    controller.long_active_ecu = True
+    cc = SimpleNamespace(
+      enabled=False, latActive=False, longActive=False,
+      actuators=SimpleNamespace(longControlState=LongCtrlState.off),
+      leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace(),
+    )
+    cs = SimpleNamespace(
+      stock_lfa_msg=None, stock_lkas_msg=None,
+      left_blindspot_from_radar=False, right_blindspot_from_radar=False,
+      out=SimpleNamespace(
+        brakePressed=False, gasPressed=False,
+        gearShifter=structs.CarState.GearShifter.park,
+      ),
+    )
+
+    msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False,
+                                        cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
+    assert any(addr == 0x12A for addr, _, _ in msgs)
+
   def test_gv70_electrified_longitudinal_uses_hda2_scc_contract(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
@@ -2707,7 +2753,7 @@ class TestHyundaiFingerprint:
     assert len([msg for msg in msgs if msg[0] == 0x110]) == expected_lkas_msgs
 
   @pytest.mark.parametrize("standstill", [False, True])
-  def test_sportage_angle_lkas_alt_forwards_stock_status_when_inactive(self, standstill):
+  def test_sportage_angle_lkas_alt_keeps_status_and_suppression_alive(self, standstill):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -2715,16 +2761,67 @@ class TestHyundaiFingerprint:
     CP.openpilotLongitudinalControl = False
 
     controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 5
+    can_bus = CanBus(CP)
     cc = SimpleNamespace(enabled=False, latActive=False,
                          actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                          leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
-    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={},
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg=lfa_block_msg,
                          out=SimpleNamespace(standstill=standstill, steeringAngleDeg=0.0,
                                              gearShifter=structs.CarState.GearShifter.drive))
 
     msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
                                         get_test_toggles(), lka_icon=1, lfa_icon=1)
-    assert not [msg for msg in msgs if msg[0] in (0x110, 0x12A)]
+    lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
+    assert len(lkas_msgs) == 1
+    assert len([msg for msg in msgs if msg[0] == 0x362]) == 1
+
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
+    parser.update([(1, lkas_msgs)])
+    assert parser.can_valid
+    assert parser.vl["LKAS_ALT"]["LKA_OptUsmSta"] == 0
+    assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 1
+    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 0
+    assert parser.vl["LKAS_ALT"]["Damping_Gain"] == 100
+    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
+    assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == 0.0
+
+  def test_sportage_angle_lkas_alt_active_status_matches_vehicle_contract(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | HyundaiFlags.CANFD_ANGLE_STEERING |
+                   HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT)
+    CP.openpilotLongitudinalControl = False
+
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 5
+    can_bus = CanBus(CP)
+    cc = SimpleNamespace(enabled=True, latActive=True,
+                         actuators=SimpleNamespace(longControlState=LongCtrlState.off),
+                         leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg=lfa_block_msg,
+                         out=SimpleNamespace(standstill=False, steeringAngleDeg=10.0,
+                                             gearShifter=structs.CarState.GearShifter.drive))
+
+    msgs = controller.create_canfd_msgs(0, True, 0.4, 12.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
+                                        get_test_toggles(), lka_icon=2, lfa_icon=2)
+    lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
+    assert len(lkas_msgs) == 1
+    assert len([msg for msg in msgs if msg[0] == 0x362]) == 1
+
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
+    parser.update([(1, lkas_msgs)])
+    assert parser.can_valid
+    assert parser.vl["LKAS_ALT"]["LKA_OptUsmSta"] == 0
+    assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 2
+    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 3
+    assert parser.vl["LKAS_ALT"]["Damping_Gain"] == 100
+    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 2
+    assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.4)
 
   def test_ev9_inactive_angle_steering_does_not_suppress_stock_lfa(self):
     CP = CarParams.new_message()

opendbc_repo/opendbc/car/hyundai/values.py

@@ -1218,6 +1218,13 @@ CANFD_ALT_BUTTONS_RESUME_CAR = {CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_
 CANFD_CORNER_RADAR_BSM_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9}
 CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {
   CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_5_PE, CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.KIA_EV9, CAR.GENESIS_GV60_EV_1ST_GEN,
+  CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+}
+CANFD_RADAR_ECU_KEEPALIVE_CAR = {
+  CAR.HYUNDAI_IONIQ_5_PE,
+  CAR.HYUNDAI_IONIQ_6,
+  CAR.KIA_EV9,
+  CAR.GENESIS_GV60_EV_1ST_GEN,
 }
 RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
   CAR.HYUNDAI_IONIQ,

selfdrive/controls/controlsd.py

@@ -404,7 +404,6 @@ class Controls:
     self.turn_blinker_swept = 0.0
     self.twitch_guard_remaining = 0.0
     self.kona_non_scc_lateral_active = False
-    self.kona_non_scc_lateral_faulted = False
     self.elantra_hev_2024_lateral_faulted = False
     self.elantra_hev_2024_previous_cruise_enabled = False
 
@@ -504,11 +503,6 @@ class Controls:
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
     if self.CP.carFingerprint == HYUNDAI_CAR.HYUNDAI_KONA_NON_SCC:
       always_on_lateral_enabled = self.sm['starpilotCarState'].alwaysOnLateralEnabled
-      lateral_requested = (CC.enabled and self.sm['selfdriveState'].active) or always_on_lateral_enabled
-      if not lateral_requested:
-        self.kona_non_scc_lateral_faulted = False
-      elif CS.steerFaultTemporary:
-        self.kona_non_scc_lateral_faulted = True
       CC.latActive = get_kona_non_scc_lateral_active(
         CC.enabled, self.sm['selfdriveState'].active,
         always_on_lateral_enabled,
@@ -516,7 +510,6 @@ class Controls:
         standstill, self.CP.steerAtStandstill,
         self.sm['starpilotPlan'].lateralCheck,
         CS.steeringPressed, self.kona_non_scc_lateral_active,
-        self.kona_non_scc_lateral_faulted,
       )
       self.kona_non_scc_lateral_active = CC.latActive
     elif self.CP.carFingerprint == HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024:

selfdrive/controls/lib/drive_helpers.py

@@ -89,13 +89,12 @@ def update_lateral_fault_latch(previous_latched: bool, lateral_requested: bool,
 def get_kona_non_scc_lateral_active(enabled: bool, active: bool, always_on_lateral_enabled: bool,
                                     steer_fault_temporary: bool, steer_fault_permanent: bool,
                                     standstill: bool, steer_at_standstill: bool, lateral_check: bool,
-                                    steering_pressed: bool, previous_lateral_active: bool,
-                                    steer_fault_latched: bool = False) -> bool:
+                                    steering_pressed: bool, previous_lateral_active: bool) -> bool:
   """Avoid the Kona EPS torque fault when AOL is enabled over driver steering input."""
   lateral_active = get_lateral_active(enabled, active, always_on_lateral_enabled,
                                       steer_fault_temporary, steer_fault_permanent,
                                       standstill, steer_at_standstill, lateral_check)
-  if not lateral_active or steer_fault_latched:
+  if not lateral_active:
     return False
 
   aol_rising_edge = always_on_lateral_enabled and not enabled and not previous_lateral_active

selfdrive/controls/tests/test_drive_helpers.py

@@ -35,9 +35,15 @@ def test_kona_non_scc_aol_gate_does_not_change_fault_or_normal_lateral_gates():
   )
 
 
-def test_kona_non_scc_does_not_retry_after_a_latched_temporary_fault():
+def test_kona_non_scc_recovers_after_temporary_fault_clears():
   assert not get_kona_non_scc_lateral_active(
-    False, False, True, False, False, False, False, True, False, False, True,
+    False, False, True, True, False, False, False, True, False, True,
+  )
+  assert not get_kona_non_scc_lateral_active(
+    False, False, True, False, False, False, False, True, True, False,
+  )
+  assert get_kona_non_scc_lateral_active(
+    False, False, True, False, False, False, False, True, False, False,
   )
 
 

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

@@ -1,15 +1,35 @@
 import { BluetoothPanel } from "../components/BluetoothPanel.js"
+import { WheelControls } from "../components/WheelControls.js"
 import { GalaxySection } from "../components/GalaxySection.js"
+import { GalaxyTabs } from "../components/GalaxyTabs.js"
+import { useTabRouting } from "../composables.js"
+
+const TABS = {
+  bluetooth: "Bluetooth",
+  controllers: "Controllers",
+}
 
 export const Bluetooth = {
   name: "Bluetooth",
-  components: { BluetoothPanel, GalaxySection },
+  components: { BluetoothPanel, WheelControls, GalaxySection, GalaxyTabs },
+  setup() {
+    return useTabRouting("/bluetooth", { bluetooth: "bluetooth", controllers: "controllers" })
+  },
+  data() { return { TABS } },
   template: `
     <div class="gx-view">
       <h2 style="margin-top:0;">Bluetooth</h2>
-      <GalaxySection title="Bluetooth Devices" icon="bi-bluetooth" :collapsible="false">
-        <BluetoothPanel />
-      </GalaxySection>
+      <GalaxyTabs :items="TABS" :active="tab" @select="selectTab" />
+
+      <template v-if="tab === 'bluetooth'">
+        <GalaxySection title="Bluetooth Devices" icon="bi-bluetooth" :collapsible="false">
+          <BluetoothPanel />
+        </GalaxySection>
+      </template>
+
+      <template v-else>
+        <WheelControls />
+      </template>
     </div>
   `,
 }

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

@@ -4,11 +4,11 @@ import { PwaInstallSection, isFirestarOrigin } from "../components/PwaInstallSec
 
 const isTunnel = () => isFirestarOrigin()
 
-function localDeviceUrl(ip) {
+function localDeviceUrl(ip, route = "/") {
   const raw = String(ip || "").trim()
   if (!raw || raw === "unknown") return ""
   const host = raw.includes(":") && !raw.startsWith("[") ? `[${raw}]` : raw
-  return `http://${host}:8082`
+  return `http://${host}:8082/#${route}`
 }
 
 export const Galaxy = {
@@ -28,7 +28,7 @@ export const Galaxy = {
     if (this.isTunnel) {
       try {
         const status = await api.getDeviceStatus()
-        this.localUrl = localDeviceUrl(status?.lanIp)
+        this.localUrl = localDeviceUrl(status?.lanIp, "/galaxy")
       } catch (e) {}
       return
     }
@@ -92,7 +92,10 @@ export const Galaxy = {
               <strong>Galaxy Pairing Unavailable via Galaxy</strong>
               <span>
                 Galaxy pairing requires a direct connection. If you are on the same local network, connect here:
-                <a v-if="localUrl" :href="localUrl" style="color:inherit; font-weight:var(--fw-bold); overflow-wrap:anywhere;">{{ localUrl }}</a>
+                <br />
+                <a v-if="localUrl" class="gx-btn gx-btn--tonal" :href="localUrl" style="margin-top:var(--sp-3);">
+                  <i class="bi bi-box-arrow-up-right"></i> Open Galaxy Locally
+                </a>
                 <span v-else>your device's local IP on port 8082.</span>
               </span>
             </div>

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

@@ -52,11 +52,11 @@ function normalizeRoute(r) {
   }
 }
 
-function localDeviceUrl(ip) {
+function localDeviceUrl(ip, route = "/") {
   const raw = String(ip || "").trim()
   if (!raw || raw === "unknown") return ""
   const host = raw.includes(":") && !raw.startsWith("[") ? `[${raw}]` : raw
-  return `http://${host}:8082`
+  return `http://${host}:8082/#${route}`
 }
 
 export const Recordings = {
@@ -346,7 +346,7 @@ export const Recordings = {
     if (this.onFirestar) {
       try {
         const status = await api.getDeviceStatus()
-        this.localUrl = localDeviceUrl(status?.lanIp)
+        this.localUrl = localDeviceUrl(status?.lanIp, "/recordings")
       } catch (e) {}
       return
     }
@@ -520,7 +520,10 @@ export const Recordings = {
 
       <GxNotice v-else tone="info" icon="bi-satellite" title="Recordings unavailable via Galaxy">
         Recordings are unavailable via Galaxy for bandwidth reasons. If you are on the same local network, connect here:
-        <a v-if="localUrl" :href="localUrl" style="color:inherit; font-weight:var(--fw-bold); overflow-wrap:anywhere;">{{ localUrl }}</a>
+        <br />
+        <a v-if="localUrl" class="gx-btn gx-btn--tonal" :href="localUrl" style="margin-top:var(--sp-3);">
+          <i class="bi bi-box-arrow-up-right"></i> Open Recordings Locally
+        </a>
         <span v-else>your device's local IP on port 8082.</span>
       </GxNotice>
     </div>

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

@@ -11,7 +11,7 @@ const TOOLS = [
   { name: "System Tools", link: "/system", icon: "bi-arrow-repeat", desc: "Backup, restore, updates" },
   { name: "Theme Maker", link: "/theme_maker", icon: "bi-palette-fill", desc: "Customize the look" },
   { name: "Tuning, Plots & Testing", link: "/tuning", icon: "bi-sign-turn-right", desc: "Steering & speed tuning, live plots, testing grounds" },
-  { name: "Vehicle Controls", link: "/vehicle", icon: "bi-car-front", desc: "Controllers & vehicle features" },
+  { name: "Vehicle Controls", link: "/vehicle", icon: "bi-car-front", desc: "Vehicle features" },
 ].sort((a, b) => a.name.localeCompare(b.name))
 
 export const Tools = {

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

@@ -1,34 +1,22 @@
 import { api, showSnackbar } from "../api.js"
 import { navigate, toolHref } from "../store.js"
-import { WheelControls } from "../components/WheelControls.js"
 import { GalaxySection } from "../components/GalaxySection.js"
-import { GalaxyTabs } from "../components/GalaxyTabs.js"
-import { useTabRouting } from "../composables.js"
 
 const FEATURES = [
   { key: "doors", name: "Lock/Unlock Doors", icon: "bi-door-closed", desc: "Send lock or unlock commands remotely to your vehicle.", embed: "/manage_doors" },
   { key: "tsk", name: "Toyota Security Keys", icon: "bi-key-fill", desc: "Manage and apply security keys for secOC protected devices.", embed: "/manage_tsk" },
 ]
 
-const TABS = {
-  controllers: "Controllers",
-  features: "Vehicle Features",
-}
-
 export const Vehicle = {
   name: "Vehicle",
-  components: { WheelControls, GalaxySection, GalaxyTabs },
+  components: { GalaxySection },
   data() {
     return {
-      TABS,
       features: FEATURES,
       featureStatus: {},
       busy: "",
     }
   },
-  setup() {
-    return useTabRouting("/vehicle", { controllers: "controllers", features: "features" })
-  },
   computed: {
     featureList() { return this.features },
   },
@@ -63,30 +51,22 @@ export const Vehicle = {
     <div class="gx-view">
       <h2 style="margin-top:0;">Vehicle Controls</h2>
 
-      <GalaxyTabs :items="TABS" :active="tab" @select="selectTab" />
-
-      <template v-if="tab === 'controllers'">
-        <WheelControls />
-      </template>
-
-      <template v-else>
-        <GalaxySection title="Vehicle Features" icon="bi-check2-square">
-          <div style="padding: var(--sp-3); display:grid; gap:8px;">
-            <button v-for="f in featureList" :key="f.key" type="button"
-              class="gx-row" style="width:100%; border:none; background:transparent; color:inherit; cursor:pointer; text-align:left;"
-              @click="openFeature(f)">
-              <div class="gx-row__info">
-                <span class="gx-row__label"><i class="bi" :class="f.icon" style="margin-right:6px; color:var(--primary);"></i>{{ f.name }}</span>
-                <span class="gx-row__desc">{{ f.desc }}</span>
-              </div>
-              <span v-if="busy === f.key" class="gx-chip" style="background:var(--surface-variant);">Checking...</span>
-              <span v-else-if="statusOf(f.key) === 'denied'" class="gx-chip" style="background:var(--error);">Not supported</span>
-              <i v-else class="bi bi-chevron-right" style="color:var(--text-muted);"></i>
-            </button>
-            <p style="color:var(--text-muted); margin:0;">These features verify vehicle compatibility when launched.</p>
-          </div>
-        </GalaxySection>
-      </template>
+      <GalaxySection title="Vehicle Features" icon="bi-check2-square">
+        <div style="padding: var(--sp-3); display:grid; gap:8px;">
+          <button v-for="f in featureList" :key="f.key" type="button"
+            class="gx-row" style="width:100%; border:none; background:transparent; color:inherit; cursor:pointer; text-align:left;"
+            @click="openFeature(f)">
+            <div class="gx-row__info">
+              <span class="gx-row__label"><i class="bi" :class="f.icon" style="margin-right:6px; color:var(--primary);"></i>{{ f.name }}</span>
+              <span class="gx-row__desc">{{ f.desc }}</span>
+            </div>
+            <span v-if="busy === f.key" class="gx-chip" style="background:var(--surface-variant);">Checking...</span>
+            <span v-else-if="statusOf(f.key) === 'denied'" class="gx-chip" style="background:var(--error);">Not supported</span>
+            <i v-else class="bi bi-chevron-right" style="color:var(--text-muted);"></i>
+          </button>
+          <p style="color:var(--text-muted); margin:0;">These features verify vehicle compatibility when launched.</p>
+        </div>
+      </GalaxySection>
     </div>
   `,
 }

starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py

@@ -126,8 +126,8 @@ def test_ui_ports_all_tool_views():
       assert ep in src, f"{rel} should use api.{ep}"
   vehicle = _read("js/views/Vehicle.js")
   bluetooth = _read("js/views/Bluetooth.js")
-  assert "WheelControls" in vehicle and "BluetoothPanel" not in vehicle and "carFeaturesCheck" in vehicle
-  assert "BluetoothPanel" in bluetooth
+  assert "WheelControls" not in vehicle and "BluetoothPanel" not in vehicle and "carFeaturesCheck" in vehicle
+  assert "BluetoothPanel" in bluetooth and "WheelControls" in bluetooth
 
 
 def test_ui_routes_ported_views_natively_no_classic_fallback():
@@ -233,9 +233,13 @@ def test_ui_schema_driven_param_engine_reused():
   assert "GalaxyEmbed" not in tuning and 'src="/tuning"' not in tuning, "Tuning must be native, not a classic embed"
   assert "LateralTuningPanel" in tuning and "LongitudinalManeuvers" not in tuning
   vehicle = _read("js/views/Vehicle.js")
+  bluetooth = _read("js/views/Bluetooth.js")
   assert "ParamSections" not in vehicle, "Vehicle must not render redundant toggles"
-  assert "WheelControls" in vehicle and "BluetoothPanel" not in vehicle
+  assert "WheelControls" not in vehicle and "BluetoothPanel" not in vehicle
   assert "GalaxySection" in vehicle
+  assert "WheelControls" in bluetooth and "BluetoothPanel" in bluetooth
+  assert bluetooth.index('bluetooth: "Bluetooth"') < bluetooth.index('controllers: "Controllers"')
+  assert 'useTabRouting("/bluetooth"' in bluetooth
   engine = _read("js/components/ParamSections.js")
   assert "SettingTree" in engine
   assert "isSettingVisible" in engine
@@ -517,6 +521,10 @@ def test_ui_mobile_polish_regressions():
   assert "bandwidth reasons" in recordings and "status?.lanIp" in recordings
   assert "status?.lanIp" in galaxy
   assert ':href="localUrl"' in recordings and ':href="localUrl"' in galaxy
+  assert 'localDeviceUrl(status?.lanIp, "/recordings")' in recordings
+  assert 'localDeviceUrl(status?.lanIp, "/galaxy")' in galaxy
+  assert "gx-btn gx-btn--tonal" in recordings and "Open Recordings Locally" in recordings
+  assert "gx-btn gx-btn--tonal" in galaxy and "Open Galaxy Locally" in galaxy
 
   home = _read("js/views/Home.js")
   home_css = _read("css/home.css")