test: migrate BSM handling to brand flags

opendbc_repo/opendbc/car/honda/carstate.py

@@ -70,7 +70,7 @@ class CarState(CarStateBase, CarStateExt):
     if self.CP.carFingerprint == CAR.HONDA_CIVIC_2022 and self.CP.flags & HondaFlags.BOSCH_RADARLESS:
       acc_hud_parser = self._select_hud_parser(cp, cp_cam, "ACC_HUD")
       lkas_hud_parser = self._select_hud_parser(cp, cp_cam, "LKAS_HUD")
-    if self.CP.enableBsm:
+    if self.CP.flags & HondaFlags.HAS_BSM:
       cp_body = can_parsers[Bus.body]
 
     ret = structs.CarState()

opendbc_repo/opendbc/car/toyota/interface.py

@@ -87,10 +87,9 @@ class CarInterface(CarInterfaceBase):
     # TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction.
     # Detect flipped signals and enable for C-HR and others
     from openpilot.common.params import Params
-    if Params().get_bool("ToyotaAftermarketBsm"):
-      ret.enableBsm = False  # aftermarket BSM: disable factory BSM enablement
-    else:
-      ret.enableBsm = 0x3F6 in fingerprint[0] and bool(ret.flags & ToyotaFlags.TSS2)
+    aftermarket_bsm = Params().get_bool("ToyotaAftermarketBsm")
+    if not aftermarket_bsm and 0x3F6 in fingerprint[0] and ret.flags & ToyotaFlags.TSS2:
+      ret.flags |= ToyotaFlags.HAS_BSM.value
 
     # No radar dbc for cars without DSU which are not TSS 2.0
     # TODO: make an adas dbc file for dsu-less models

openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering.py

@@ -8,6 +8,7 @@ from opendbc.car.structs import car
 from enum import IntEnum
 
 from openpilot.selfdrive.ui.ui_state import ui_state
+from opendbc.sunnypilot.car.interfaces import has_bsm
 from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, simple_button_item_sp, option_item_sp, LineSeparatorSP
 from openpilot.system.ui.widgets.scroller_tici import Scroller
@@ -134,7 +135,7 @@ class SteeringLayout(Widget):
 
     # inline lane-change toggles (flattened from Customize Lane Change submenu)
     lc = self._lane_change_settings_layout
-    enable_bsm = ui_state.CP is not None and ui_state.CP.enableBsm
+    enable_bsm = ui_state.CP is not None and has_bsm(ui_state.CP, ui_state.CP_SP)
     if not enable_bsm and ui_state.params.get_bool("AutoLaneChangeBsmDelay"):
       ui_state.params.remove("AutoLaneChangeBsmDelay")
     lc._bsm_delay.action_item.set_enabled(enable_bsm and ui_state.params.get("AutoLaneChangeTimer", return_default=True) > AutoLaneChangeMode.NUDGE)

openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py

@@ -8,6 +8,7 @@ from collections.abc import Callable
 import pyray as rl
 
 from openpilot.selfdrive.ui.ui_state import ui_state
+from opendbc.sunnypilot.car.interfaces import has_bsm
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, LineSeparatorSP
 from openpilot.system.ui.widgets.network import NavButton
@@ -82,7 +83,7 @@ class LaneChangeSettingsLayout(Widget):
     self._scroller.show_event()
 
   def _update_toggles(self):
-    enable_bsm = ui_state.CP is not None and ui_state.CP.enableBsm
+    enable_bsm = ui_state.CP is not None and has_bsm(ui_state.CP, ui_state.CP_SP)
     if not enable_bsm and ui_state.params.get_bool("AutoLaneChangeBsmDelay"):
       ui_state.params.remove("AutoLaneChangeBsmDelay")
     self._bsm_delay.action_item.set_enabled(enable_bsm and ui_state.params.get("AutoLaneChangeTimer", return_default=True) > AutoLaneChangeMode.NUDGE)

openpilot/sunnypilot/sunnylink/capabilities.py

@@ -11,6 +11,7 @@ from opendbc.car.structs import car
 from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, UNSUPPORTED_LONGITUDINAL_CAR
 from opendbc.car.subaru.values import CAR as SUBARU_CAR, SubaruFlags
 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from opendbc.sunnypilot.car.interfaces import has_bsm
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import HARDWARE
@@ -142,6 +143,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
 
   # CarParams-derived capabilities
   CP = None
+  CP_SP = None
   CP_bytes = params.get("CarParamsPersistent")
   if CP_bytes is not None:
     try:
@@ -159,7 +161,6 @@ def generate_capabilities(params: Params | None = None) -> dict:
       if not caps["brand"] and CP.brand:
         caps["brand"] = str(CP.brand)
       caps["pcm_cruise"] = bool(CP.pcmCruise)
-      caps["enable_bsm"] = bool(CP.enableBsm)
       # Generic SnG fallback. Brand-specific opaque flags below override.
       caps["has_stop_and_go"] = bool(CP.openpilotLongitudinalControl)
     except Exception:
@@ -177,6 +178,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
     except Exception:
       cloudlog.exception("capabilities: failed to deserialize CarParamsSPPersistent")
 
+  caps["enable_bsm"] = has_bsm(CP, CP_SP) if CP is not None else False
   _resolve_brand_capabilities(caps, bundle_platform, CP)
 
   return caps