fixes

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -7,6 +7,7 @@ from opendbc.car.gm import gmcan
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.values import ASCM_INT, CAR, CC_ONLY_CAR, CC_REGEN_PADDLE_CAR, DBC, EV_CAR, SDGM_CAR, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags
 from opendbc.car.interfaces import CarControllerBase
+from opendbc.car.gm.cancel_logic import get_stock_cc_active_for_cancel
 from openpilot.common.params import Params, UnknownKeyName
 from openpilot.starpilot.common.testing_grounds import testing_ground
 
@@ -534,7 +535,12 @@ class CarController(CarControllerBase):
       cc_long_cancel = ((self.CP.flags & GMFlags.CC_LONG.value) and
                         self.prev_op_enabled and not CC.enabled and CS.out.cruiseState.enabled)
 
-      if pedal_cancel or cc_long_cancel:
+      if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+        stock_cc_active = get_stock_cc_active_for_cancel(self.CP, CS)
+        pedal_cancel = bool(self.CP.flags & GMFlags.PEDAL_LONG.value) and CC.longActive
+        cc_long_cancel = bool(self.CP.flags & GMFlags.CC_LONG.value) and not CC.enabled
+
+      if (pedal_cancel or cc_long_cancel) and (stock_cc_active if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC else True):
         if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
           malibu_cancel_requested = True
         elif (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
@@ -548,27 +554,26 @@ class CarController(CarControllerBase):
       self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
 
       # Stock longitudinal, integrated at camera
-      if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
+      if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC and self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
+        malibu_cancel_requested = True
+      elif (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
         if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
-          if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
-            malibu_cancel_requested = True
-          else:
-            self.last_button_frame = self.frame
-            sdgm_stock_cancel_pt = (
-              self.CP.carFingerprint in SDGM_CAR and
-              self.CP.carFingerprint not in {
-                CAR.CHEVROLET_VOLT,
-                CAR.CHEVROLET_VOLT_2019,
-                CAR.CHEVROLET_VOLT_ASCM,
-                CAR.CHEVROLET_VOLT_CAMERA,
-                CAR.CHEVROLET_VOLT_CC,
-                CAR.CHEVROLET_BLAZER,
-                CAR.CHEVROLET_MALIBU_SDGM,
-                CAR.CHEVROLET_TRAVERSE,
-              }
-            )
-            cancel_bus = CanBus.POWERTRAIN if sdgm_stock_cancel_pt else CanBus.CAMERA
-            can_sends.append(gmcan.create_buttons(self.packer_pt, cancel_bus, CS.buttons_counter, CruiseButtons.CANCEL))
+          self.last_button_frame = self.frame
+          sdgm_stock_cancel_pt = (
+            self.CP.carFingerprint in SDGM_CAR and
+            self.CP.carFingerprint not in {
+              CAR.CHEVROLET_VOLT,
+              CAR.CHEVROLET_VOLT_2019,
+              CAR.CHEVROLET_VOLT_ASCM,
+              CAR.CHEVROLET_VOLT_CAMERA,
+              CAR.CHEVROLET_VOLT_CC,
+              CAR.CHEVROLET_BLAZER,
+              CAR.CHEVROLET_MALIBU_SDGM,
+              CAR.CHEVROLET_TRAVERSE,
+            }
+          )
+          cancel_bus = CanBus.POWERTRAIN if sdgm_stock_cancel_pt else CanBus.CAMERA
+          can_sends.append(gmcan.create_buttons(self.packer_pt, cancel_bus, CS.buttons_counter, CruiseButtons.CANCEL))
 
     if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
       if malibu_cancel_requested and malibu_oem_button_slot:

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-3af9b873-DEBUG";
+const uint8_t gitversion[19] = "DEV-523a26be-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-3af9b873-DEBUG
+DEV-523a26be-DEBUG

scripts/laptop_device_build.sh

@@ -118,9 +118,26 @@ assert_image_arch() {
 }
 
 expected_capnp_version() {
+  if [[ -n "${COMMA_EXPECTED_CAPNP_VERSION:-}" ]]; then
+    echo "${COMMA_EXPECTED_CAPNP_VERSION}"
+    return
+  fi
+
+  local dockerfile_version=""
+  dockerfile_version="$(sed -n 's/^ARG CAPNP_VERSION=\(.*\)$/\1/p' "${ROOT_DIR}/tools/laptop_device_build/Dockerfile" | head -n 1)"
+  if [[ -n "${dockerfile_version}" ]]; then
+    echo "${dockerfile_version}"
+    return
+  fi
+
+  local header_path="${ROOT_DIR}/cereal/gen/cpp/custom.capnp.h"
+  if [[ ! -f "${header_path}" ]]; then
+    err "Unable to determine expected Cap'n Proto version. Set COMMA_EXPECTED_CAPNP_VERSION or restore tools/laptop_device_build/Dockerfile ARG CAPNP_VERSION."
+  fi
+
   local raw_version=""
-  raw_version="$(sed -n 's/^#elif CAPNP_VERSION != \([0-9][0-9]*\)$/\1/p' "${ROOT_DIR}/cereal/gen/cpp/custom.capnp.h" | head -n 1)"
-  [[ -n "${raw_version}" ]] || err "Unable to determine expected Cap'n Proto version from cereal/gen/cpp/custom.capnp.h."
+  raw_version="$(sed -n 's/^#elif CAPNP_VERSION != \([0-9][0-9]*\)$/\1/p' "${header_path}" | head -n 1)"
+  [[ -n "${raw_version}" ]] || err "Unable to determine expected Cap'n Proto version from ${header_path}."
 
   local major=$(( raw_version / 1000000 ))
   local minor=$(( (raw_version / 1000) % 1000 ))

starpilot/ui/qt/offroad/model_settings.cc

@@ -11,6 +11,98 @@
 
 #include "system/hardware/hw.h"
 
+namespace {
+
+QString paramDefaultValue(const Params &params, const char *key) {
+  return QString::fromStdString(const_cast<Params &>(params).getKeyDefaultValue(key).value_or("")).trimmed();
+}
+
+QString builtinDefaultModelKey(const Params &params) {
+  QString key = paramDefaultValue(params, "Model");
+  if (key.isEmpty()) {
+    key = paramDefaultValue(params, "DrivingModel");
+  }
+  return key.isEmpty() ? QStringLiteral("sc2") : key;
+}
+
+QString builtinDefaultModelName(const Params &params) {
+  QString name = paramDefaultValue(params, "DrivingModelName");
+  return name.isEmpty() ? QStringLiteral("South Carolina") : name;
+}
+
+QStringList builtinDefaultModelAliases(const QString &defaultKey) {
+  QString canonical = defaultKey.trimmed();
+  if (canonical.isEmpty()) {
+    canonical = QStringLiteral("sc2");
+  }
+
+  QStringList aliases{canonical};
+
+  if (canonical.endsWith("2")) {
+    aliases.append(canonical.left(canonical.size() - 1));
+  } else {
+    aliases.append(canonical + "2");
+  }
+
+  if (canonical.endsWith("_default")) {
+    aliases.append(canonical.left(canonical.size() - QStringLiteral("_default").size()));
+  }
+
+  aliases.removeAll("");
+  aliases.removeDuplicates();
+  return aliases;
+}
+
+bool isBuiltinDefaultModel(const Params &params, const QString &key) {
+  return builtinDefaultModelAliases(builtinDefaultModelKey(params)).contains(key.trimmed());
+}
+
+QString canonicalModelKey(const Params &params, const QString &key) {
+  const QString trimmedKey = key.trimmed();
+  return isBuiltinDefaultModel(params, trimmedKey) ? builtinDefaultModelKey(params) : trimmedKey;
+}
+
+void ensureDefaultModelVisible(const Params &params, const QString &fallbackSeries,
+                               QMap<QString, QString> &modelFileToNameMap,
+                               QMap<QString, QString> &modelFileToNameMapProcessed,
+                               QMap<QString, QString> &modelSeriesMap,
+                               QMap<QString, QString> &modelReleasedDates) {
+  const QString defaultKey = builtinDefaultModelKey(params);
+  QString displayName = builtinDefaultModelName(params);
+  QString series = fallbackSeries;
+  QString releasedDate;
+
+  for (const QString &alias : builtinDefaultModelAliases(defaultKey)) {
+    if (!modelFileToNameMap.contains(alias)) {
+      continue;
+    }
+
+    displayName = modelFileToNameMap.value(alias, displayName);
+    if (series == fallbackSeries && modelSeriesMap.contains(alias)) {
+      series = modelSeriesMap.value(alias);
+    }
+    if (releasedDate.isEmpty() && modelReleasedDates.contains(alias)) {
+      releasedDate = modelReleasedDates.value(alias);
+    }
+
+    if (alias != defaultKey) {
+      modelFileToNameMap.remove(alias);
+      modelFileToNameMapProcessed.remove(alias);
+      modelSeriesMap.remove(alias);
+      modelReleasedDates.remove(alias);
+    }
+  }
+
+  modelFileToNameMap.insert(defaultKey, displayName);
+  modelFileToNameMapProcessed.insert(defaultKey, cleanModelName(displayName));
+  modelSeriesMap.insert(defaultKey, series);
+  if (!releasedDate.isEmpty()) {
+    modelReleasedDates.insert(defaultKey, releasedDate);
+  }
+}
+
+}  // namespace
+
 StarPilotModelPanel::StarPilotModelPanel(StarPilotSettingsWindow *parent) : StarPilotListWidget(parent),
                                                                              allModelsDownloaded(false),
                                                                              allModelsDownloading(false),
@@ -366,10 +458,6 @@ StarPilotModelPanel::StarPilotModelPanel(StarPilotSettingsWindow *parent) : Star
           }
 
           QString modelName = modelFileToNameMap.value(modelKey);
-          if (modelName.contains("(Default)")) {
-            continue;
-          }
-
           installedModelFileToNameMap.insert(modelKey, modelName);
           if (modelReleasedDates.contains(modelKey)) {
             installedReleasedDates.insert(modelKey, modelReleasedDates.value(modelKey));
@@ -385,15 +473,12 @@ StarPilotModelPanel::StarPilotModelPanel(StarPilotSettingsWindow *parent) : Star
         }
 
         // Add default model to the beginning of its series
-        QString defaultModelKey = QString::fromStdString(params.getKeyDefaultValue("Model").value());
-        if (defaultModelKey.isEmpty()) {
-          defaultModelKey = QString::fromStdString(params.getKeyDefaultValue("DrivingModel").value());
-        }
-        QString defaultModelName = modelFileToNameMap.value(defaultModelKey);
-        QString defaultSeries = modelSeriesMap.value(defaultModelKey, "Custom Series");
-        if (seriesToModels.contains(defaultSeries) && seriesToModels[defaultSeries].contains(defaultModelName)) {
-          seriesToModels[defaultSeries].removeAll(defaultModelName);
-          seriesToModels[defaultSeries].prepend(defaultModelName);
+        const QString defaultKey = builtinDefaultModelKey(params);
+        const QString defaultName = modelFileToNameMap.value(defaultKey, builtinDefaultModelName(params));
+        const QString defaultSeries = modelSeriesMap.value(defaultKey, tr("Custom Series"));
+        if (seriesToModels.contains(defaultSeries) && seriesToModels[defaultSeries].contains(defaultName)) {
+          seriesToModels[defaultSeries].removeAll(defaultName);
+          seriesToModels[defaultSeries].prepend(defaultName);
         }
 
         // Prepare favorites and dates for the enhanced dialog
@@ -525,6 +610,10 @@ bool StarPilotModelPanel::isModelInstalled(const QString &key) const {
     return false;
   }
 
+  if (isBuiltinDefaultModel(params, key)) {
+    return true;
+  }
+
   bool has_thneed = false;
   bool has_policy_meta = false;
   bool has_policy_tg = false;
@@ -579,12 +668,9 @@ bool StarPilotModelPanel::isModelInstalled(const QString &key) const {
 QMap<QString, QString> StarPilotModelPanel::getDeletableModelDisplayNames() {
   QMap<QString, QString> deletable;
 
-  QString defaultModelKey = QString::fromStdString(params.getKeyDefaultValue("Model").value());
-  if (defaultModelKey.isEmpty()) {
-    defaultModelKey = QString::fromStdString(params.getKeyDefaultValue("DrivingModel").value());
-  }
-  QString defaultModelName = modelFileToNameMap.value(defaultModelKey);
-  QString processedDefault = cleanModelName(defaultModelName);
+  const QString defaultKey = builtinDefaultModelKey(params);
+  const QString defaultName = modelFileToNameMap.value(defaultKey, builtinDefaultModelName(params));
+  const QString processedDefault = cleanModelName(defaultName);
   QString processedCurrent = cleanModelName(currentModel);
 
   for (auto it = modelFileToNameMap.constBegin(); it != modelFileToNameMap.constEnd(); ++it) {
@@ -636,7 +722,10 @@ void StarPilotModelPanel::showEvent(QShowEvent *event) {
     QJsonObject versionObj;
     int verCount = qMin(availableModels.size(), versionList.size());
     for (int i = 0; i < verCount; ++i) {
-      versionObj.insert(availableModels[i], versionList[i]);
+      const QString modelKey = canonicalModelKey(params, availableModels[i]);
+      if (!modelKey.isEmpty()) {
+        versionObj.insert(modelKey, versionList[i]);
+      }
     }
     QFile out(modelDir.filePath(".model_versions.json"));
     if (out.open(QIODevice::WriteOnly)) {
@@ -651,7 +740,7 @@ void StarPilotModelPanel::showEvent(QShowEvent *event) {
   modelReleasedDates.clear();
   int size = qMin(availableModels.size(), availableModelNames.size());
   for (int i = 0; i < size; ++i) {
-    const QString modelKey = availableModels[i].trimmed();
+    const QString modelKey = canonicalModelKey(params, availableModels[i]);
     const QString modelName = availableModelNames[i].trimmed();
     if (modelKey.isEmpty() || modelName.isEmpty()) {
       continue;
@@ -676,6 +765,9 @@ void StarPilotModelPanel::showEvent(QShowEvent *event) {
       }
     }
   }
+
+  ensureDefaultModelVisible(params, tr("Custom Series"), modelFileToNameMap, modelFileToNameMapProcessed, modelSeriesMap, modelReleasedDates);
+
   allModelsDownloaded = true;
   for (auto it = modelFileToNameMap.constBegin(); it != modelFileToNameMap.constEnd(); ++it) {
     if (it.value().isEmpty()) {
@@ -687,17 +779,14 @@ void StarPilotModelPanel::showEvent(QShowEvent *event) {
     }
   }
 
-  QString modelKey = QString::fromStdString(params.get("Model"));
+  QString modelKey = canonicalModelKey(params, QString::fromStdString(params.get("Model")));
   if (modelKey.isEmpty()) {
-    modelKey = QString::fromStdString(params.get("DrivingModel"));
+    modelKey = canonicalModelKey(params, QString::fromStdString(params.get("DrivingModel")));
   }
   if (!isModelInstalled(modelKey)) {
-    modelKey = QString::fromStdString(params.getKeyDefaultValue("Model").value());
-    if (modelKey.isEmpty()) {
-      modelKey = QString::fromStdString(params.getKeyDefaultValue("DrivingModel").value());
-    }
+    modelKey = builtinDefaultModelKey(params);
   }
-  currentModel = modelFileToNameMap.value(modelKey);
+  currentModel = modelFileToNameMap.value(modelKey, builtinDefaultModelName(params));
   selectModelButton->setValue(currentModel);
 
   noModelsDownloaded = getDeletableModelDisplayNames().isEmpty();