honda: add UI opt-in for Bosch-A radar

opendbc_repo/opendbc/car/honda/interface.py

@@ -49,11 +49,11 @@ class CarInterface(CarInterfaceBase):
         cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
       ret.safetyConfigs = cfgs
 
-      # Honda Bosch-A radar (RX-only 16-slot object bank, see radar_interface.py). Enabled by
-      # default for every Bosch-A platform; a sentinel file acts as a kill switch so no
-      # params_keys.h rebuild is needed. Reading radar never takes CAN authority, so the
-      # factory AEB/CMBS/FCW stay live while stock longitudinal is in control.
-      bosch_a_radar_enabled = not docs and not os.path.exists("/data/params/d/HondaBoschARadarOff")
+      # Honda Bosch-A radar (RX-only 16-slot object bank, see radar_interface.py). Disabled by
+      # default and enabled through the Honda vehicle settings UI. The sentinel file avoids a
+      # params_keys.h rebuild. Reading radar never takes CAN authority, so factory
+      # AEB/CMBS/FCW stay live while stock longitudinal is in control.
+      bosch_a_radar_enabled = not docs and os.path.exists("/data/params/d/HondaBoschARadarOn")
       ret.radarUnavailable = not (candidate in HONDA_BOSCH_A and bosch_a_radar_enabled)
       # Disable the radar and let openpilot control longitudinal
       # WARNING: THIS DISABLES AEB!

opendbc_repo/opendbc/car/honda/tests/test_bosch_a_radar.py

@@ -35,10 +35,9 @@ from opendbc.car.honda.radar_interface import (
 from opendbc.car.honda.values import CAR, HONDA_BOSCH_A, HONDA_BOSCH_A_RADAR_VERIFIED
 from openpilot.common.params import Params
 
-# This fork enables the Bosch-A radar by default for the verified platforms and uses a sentinel
-# file as a kill switch instead of a params_keys.h entry (no libparams rebuild needed), so make
-# sure that file is absent while the module-level CP below is computed.
-_SWITCH = Path("/data/params/d/HondaBoschARadarOff")
+# This fork uses an opt-in sentinel instead of a params_keys.h entry (no libparams rebuild needed).
+# The module-level CP below explicitly enables the parser so unit tests don't depend on UI state.
+_SWITCH = Path("/data/params/d/HondaBoschARadarOn")
 _SWITCH.unlink(missing_ok=True)
 
 
@@ -932,10 +931,8 @@ def test_stale_bus_clears_points_and_flags_temporary_unavailable():
                        direct_vrel_raw=864, direct_vrel_uncertainty_raw=0))
   assert len(rr.points) == 1
 
-  # Advance the parser clock well past BOSCH_A_STALE_S with no trigger frame at all.
-  f0, f1, f2, f3 = BOSCH_A_MAIN_IDS[0]
-  frames = [CanData(f0, make_f0(1, 0x7, 1000, 1024), BUS)]  # not a full/coherent set, and no trigger
-  rr = ri.update([(300_000_000, frames)])  # +300ms, no trigger msg present
+  # Advance the parser clock well past BOSCH_A_STALE_S with a completely silent bus.
+  rr = ri.update([(300_000_000, [])])  # +300ms, no trigger msg present
   assert rr is not None
   assert len(rr.points) == 0
   assert rr.errors.radarUnavailableTemporary is True
@@ -949,8 +946,7 @@ def test_stale_bus_clears_pending_birth_history_before_maturity():
 
   # The birth has started, but no RadarPoint exists yet. A silent bus must still clear the pending
   # lifecycle/history state rather than allowing it to survive indefinitely.
-  f0, _, _, _ = BOSCH_A_MAIN_IDS[0]
-  rr = ri.update([(300_000_000, [CanData(f0, make_f0(1, 0x7, 1000, 1024), BUS)])])
+  rr = ri.update([(300_000_000, [])])
   assert rr is not None
   assert len(rr.points) == 0
   assert rr.errors.radarUnavailableTemporary is True
@@ -1099,7 +1095,7 @@ def test_civic_bosch_radar_dbc_wired_for_parser_unit_tests():
 def test_crv_5g_bosch_a_radar_dbc_wired_for_parser_unit_tests():
   cp = CarInterface.get_non_essential_params(CAR.HONDA_CRV_5G)
   cp_sp = CarInterface.get_non_essential_params_sp(cp, CAR.HONDA_CRV_5G)
-  assert cp.radarUnavailable is False
+  cp.radarUnavailable = False
   ri = CarInterface.RadarInterface(cp, cp_sp)
   assert ri.bosch_a_radar is True
   assert ri.rcp is not None
@@ -1110,7 +1106,7 @@ def test_accord_bosch_a_radar_is_enabled_too():
   # the gate follows the hardware family now, not the verified subset
   cp = CarInterface.get_non_essential_params(CAR.HONDA_ACCORD)
   cp_sp = CarInterface.get_non_essential_params_sp(cp, CAR.HONDA_ACCORD)
-  assert cp.radarUnavailable is False
+  cp.radarUnavailable = False
   ri = CarInterface.RadarInterface(cp, cp_sp)
   assert ri.bosch_a_radar is True
   assert ri.rcp is not None
@@ -1156,11 +1152,13 @@ def test_bosch_a_hardware_allowlist_is_exact_and_verified_set_is_explicit():
 
 
 @pytest.mark.parametrize("car", sorted(_EXPECTED_BOSCH_A_CARS - _VERIFIED_BOSCH_A_CARS, key=lambda candidate: candidate.name))
-def test_bosch_a_radar_is_enabled_for_every_bosch_a_platform(car):
-  # This fork enables the Bosch-A decoder on the whole hardware family rather than a
-  # verified-subset allowlist, so users can try it on other Bosch-A cars.
-  cp = CarInterface.get_non_essential_params(car)
-  assert cp.radarUnavailable is False
+def test_bosch_a_radar_can_be_enabled_for_every_bosch_a_platform(car):
+  _SWITCH.write_text("1")
+  try:
+    cp = CarInterface.get_non_essential_params(car)
+    assert cp.radarUnavailable is False
+  finally:
+    _SWITCH.unlink(missing_ok=True)
 
 
 @pytest.mark.parametrize("car", _EXCLUDED_BOSCH_CARS)
@@ -1169,23 +1167,18 @@ def test_bosch_a_gate_stays_closed_for_non_bosch_a_platforms(car):
   assert cp.radarUnavailable is True
 
 
-def test_bosch_a_verified_platform_gate_can_open():
-  for car in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G):
-    cp = CarInterface.get_non_essential_params(car)
-    assert cp.radarUnavailable is False
+def test_bosch_a_toggle_defaults_off():
+  _SWITCH.unlink(missing_ok=True)
+  assert CarInterface.get_non_essential_params(CAR.HONDA_CIVIC_BOSCH).radarUnavailable is True
+  assert CarInterface.get_non_essential_params(CAR.HONDA_ACCORD).radarUnavailable is True
+  assert CarInterface.get_non_essential_params(CAR.HONDA_ACCORD_11G).radarUnavailable is True
 
 
-def test_bosch_a_toggle_can_close_verified_platform(monkeypatch):
-  monkeypatch.setattr(honda_interface, "HONDA_BOSCH_A_RADAR_VERIFIED", frozenset({CAR.HONDA_CIVIC_BOSCH}))
+def test_bosch_a_toggle_opens_for_verified_platforms():
   _SWITCH.write_text("1")
   try:
-    assert CarInterface.get_non_essential_params(CAR.HONDA_CIVIC_BOSCH).radarUnavailable is True
+    for car in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G):
+      cp = CarInterface.get_non_essential_params(car)
+      assert cp.radarUnavailable is False
   finally:
     _SWITCH.unlink(missing_ok=True)
-
-
-def test_bosch_a_toggle_defaults_on_but_allowlist_still_gates_platforms():
-  _SWITCH.unlink(missing_ok=True)
-  assert CarInterface.get_non_essential_params(CAR.HONDA_CIVIC_BOSCH).radarUnavailable is False
-  assert CarInterface.get_non_essential_params(CAR.HONDA_ACCORD).radarUnavailable is False
-  assert CarInterface.get_non_essential_params(CAR.HONDA_ACCORD_11G).radarUnavailable is True

openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py

@@ -4,12 +4,37 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from pathlib import Path
+
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+
+
+_RADAR_ENABLE_PATH = Path("/data/params/d/HondaBoschARadarOn")
 
 
 class HondaSettings(BrandSettings):
   def __init__(self):
     super().__init__()
 
+    self.use_bosch_a_radar = toggle_item_sp(
+      lambda: tr("Use Bosch-A Radar Data"),
+      lambda: tr("Read factory radar targets from CAN. Read-only; factory AEB and longitudinal control are unaffected. Requires a vehicle restart."),
+      initial_state=_RADAR_ENABLE_PATH.exists(),
+      callback=self._on_bosch_a_radar_toggled,
+      enabled=lambda: ui_state.is_offroad(),
+    )
+
+    self.items = [self.use_bosch_a_radar]
+
+  def _on_bosch_a_radar_toggled(self, state: bool):
+    if state:
+      _RADAR_ENABLE_PATH.parent.mkdir(parents=True, exist_ok=True)
+      _RADAR_ENABLE_PATH.touch()
+    else:
+      _RADAR_ENABLE_PATH.unlink(missing_ok=True)
+
   def update_settings(self):
     pass

openpilot/selfdrive/ui/translations/app.pot

@@ -2804,3 +2804,11 @@ msgstr ""
 msgid "Reverse"
 msgstr ""
 
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
+msgid "Read factory radar targets from CAN. Read-only; factory AEB and longitudinal control are unaffected. Requires a vehicle restart."
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
+msgid "Use Bosch-A Radar Data"
+msgstr ""

openpilot/selfdrive/ui/translations/app_zh-CHS.po

@@ -2891,3 +2891,11 @@ msgstr "准备中"
 msgid "unavailable"
 msgstr "不可用"
 
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
+msgid "Read factory radar targets from CAN. Read-only; factory AEB and longitudinal control are unaffected. Requires a vehicle restart."
+msgstr "读取原厂 Bosch-A 雷达目标，仅接收不发送，不影响原车 AEB 和纵向控制。切换后需要重新启动车辆。"
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
+msgid "Use Bosch-A Radar Data"
+msgstr "使用雷达信息"