mismatch mismatch

This reverts commit 01420fc08488374ec8fe3d17b757ccd1564d1328.

openpilot/common/params_keys.h

@@ -139,6 +139,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ChestnutActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"ChestnutLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"ChestnutModelError", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"AuxPowerSave", {PERSISTENT | BACKUP, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -576,7 +576,7 @@ class SelfdriveD(CruiseHelper):
     clear_event_types = set()
     if ET.WARNING not in self.state_machine.current_alert_types:
       clear_event_types.add(ET.WARNING)
-    if self.enabled or self.mads.clear_no_entry:
+    if self.enabled:
       clear_event_types.add(ET.NO_ENTRY)
 
     pers = LONGITUDINAL_PERSONALITY_MAP[self.personality]

openpilot/selfdrive/ui/ui_state.py

@@ -225,6 +225,7 @@ class UIState(UIStateSP):
                              ChestnutState.UNCOMPILED if detected else ChestnutState.DISCONNECTED)
       return
 
+    self.chestnut_present = self.chestnut_present or detected
     model_seen = self.sm.recv_frame["modelV2"] > self.started_frame
     if not self.chestnut_present:
       self.chestnut_state = ChestnutState.DISCONNECTED

openpilot/sunnypilot/mads/mads.py

@@ -10,7 +10,6 @@ from openpilot.cereal import log, custom
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
 from openpilot.common.params import Params
-from openpilot.selfdrive.selfdrived.events import ET
 from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, MADS_NO_ACC_MAIN_BUTTON
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
@@ -34,7 +33,6 @@ class ModularAssistiveDrivingSystem:
     self.enabled = False
     self.active = False
     self.available = False
-    self.clear_no_entry = False
     self.lateral_mismatch_counter = 0
     self.allow_always = False
     self.no_main_cruise = False
@@ -220,8 +218,5 @@ class ModularAssistiveDrivingSystem:
     if not self.CP.passive and self.selfdrive.initialized:
       self.enabled, self.active = self.state_machine.update()
 
-    cat = self.selfdrive.state_machine.current_alert_types
-    self.clear_no_entry = (ET.ENABLE in cat or ET.USER_DISABLE in cat) and ET.NO_ENTRY not in cat
-
     # Copy of previous SelfdriveD states for MADS events handling
     self.selfdrive.enabled_prev = self.selfdrive.enabled

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -1675,6 +1675,12 @@
               "widget": "toggle",
               "title": "Onroad Uploads"
             },
+            {
+              "key": "AuxPowerSave",
+              "widget": "toggle",
+              "title": "Disable Aux Port When Offroad",
+              "description": "Power off the aux USB-C port while offroad to save power. It powers back on automatically when you go onroad."
+            },
             {
               "key": "MaxTimeOffroad",
               "widget": "option",

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml

@@ -30,6 +30,10 @@ sections:
   - key: OnroadUploads
     widget: toggle
     title: Onroad Uploads
+  - key: AuxPowerSave
+    widget: toggle
+    title: Disable Aux Port When Offroad
+    description: Power off the aux USB-C port while offroad to save power. It powers back on automatically when you go onroad.
   - key: MaxTimeOffroad
     widget: option
     title: Max Time Offroad

openpilot/system/hardware/hardwared.py

@@ -21,6 +21,7 @@ from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.git import get_short_branch
 from openpilot.common.hardware.usb import CHESTNUT_FW_VERSION, CHESTNUT_USB_PRODUCT, get_usb_state, get_usb_topology, is_chestnut_usb_id, set_usb_state
+from openpilot.system.hardware.chestnut.flash import VBUS_PATH
 from openpilot.common.linux import LinuxSystemStats
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.common.swaglog import cloudlog
@@ -50,6 +51,10 @@ class Chestnut:
     self.last_attempt = 0.
     self.flashed = False
     self.mismatch = False
+    self.vbus_on = None
+    self.params = Params()
+    self.powersave = False
+    self.last_offroad = None
 
   @property
   def failed(self) -> bool:
@@ -61,9 +66,19 @@ class Chestnut:
     cloudlog.event("chestnut flash done", returncode=ret.returncode, output=ret.stdout[-1000:], error=ret.returncode != 0)
     self.flashed = ret.returncode == 0
 
+  def set_vbus(self, on: bool) -> None:
+    if on == self.vbus_on:
+      return
+    subprocess.run(["sudo", "tee", VBUS_PATH], input=b"1" if on else b"0", stdout=subprocess.DEVNULL, check=False)
+    self.vbus_on = on
+
   def update(self, offroad: bool, usb_state: list[dict]) -> None:
     self.mismatch = any(is_chestnut_usb_id(d["vendorId"], d["productId"], include_bootloader=True) and
                         d["product"] != CHESTNUT_USB_PRODUCT for d in usb_state)
+    if offroad != self.last_offroad:
+      self.powersave = self.params.get_bool("AuxPowerSave")
+      self.last_offroad = offroad
+    self.set_vbus((not offroad or self.mismatch) or not self.powersave)
     if not self.mismatch:
       self.flashed = False
       return