From c31d6131113d3724251661995cb87b059ddc0a50 Mon Sep 17 00:00:00 2001
From: 1okko <15377594951@189.cn>
Date: Wed, 21 Oct 2026 08:43:05 +0800
Subject: [PATCH] test: sync opendbc sunnypilot interfaces has_bsm (stage 3f)

---
 .../opendbc/sunnypilot/car/interfaces.py      | 28 +++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/opendbc_repo/opendbc/sunnypilot/car/interfaces.py b/opendbc_repo/opendbc/sunnypilot/car/interfaces.py
index 75bfe6cd8..94a1198e3 100644
--- a/opendbc_repo/opendbc/sunnypilot/car/interfaces.py
+++ b/opendbc_repo/opendbc/sunnypilot/car/interfaces.py
@@ -12,12 +12,19 @@ from collections.abc import Callable
 
 from opendbc.car import structs
 from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
+from opendbc.car.chrysler.values import ChryslerFlags
+from opendbc.car.ford.values import FordFlags
+from opendbc.car.gm.values import GMFlags
+from opendbc.car.honda.values import HondaFlags
 from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.car.subaru.values import SubaruFlags
+from opendbc.car.toyota.values import ToyotaFlags
+from opendbc.car.volkswagen.values import VolkswagenFlags
 from opendbc.car.toyota.values import ToyotaSafetyFlags
 from opendbc.sunnypilot.car.hyundai.enable_radar_tracks import enable_radar_tracks as hyundai_enable_radar_tracks
 from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+from opendbc.sunnypilot.car.rivian.values import RivianFlagsSP
 from opendbc.sunnypilot.car.subaru.values_ext import SubaruFlagsSP, SubaruSafetyFlagsSP
 from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP, TeslaSafetyFlagsSP
 from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
@@ -77,6 +84,27 @@ class NanoFFModel:
     return pred
 
 
+# upstream detects BSM per brand into each brand's HAS_BSM flag
+BSM_FLAGS = {
+  "chrysler": ChryslerFlags.HAS_BSM,
+  "ford": FordFlags.HAS_BSM,
+  "gm": GMFlags.HAS_BSM,
+  "honda": HondaFlags.HAS_BSM,
+  "hyundai": HyundaiFlags.HAS_BSM,
+  "subaru": SubaruFlags.HAS_BSM,
+  "toyota": ToyotaFlags.HAS_BSM,
+  "volkswagen": VolkswagenFlags.HAS_BSM,
+}
+
+
+def has_bsm(CP: structs.CarParams, CP_SP: structs.CarParamsSP | None) -> bool:
+  if CP.brand == "tesla":
+    return True
+  if CP.brand == "rivian":
+    return CP_SP is not None and bool(CP_SP.flags & RivianFlagsSP.LONGITUDINAL_HARNESS_UPGRADE)
+  return CP.brand in BSM_FLAGS and bool(CP.flags & BSM_FLAGS[CP.brand])
+
+
 def setup_interfaces(CI, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
                      params_list: list[dict[str, str]] | None = None,
                      can_recv: CanRecvCallable | None = None, can_send: CanSendCallable | None = None) -> None: