mazda: read invalidLkasSetting from camera intervention bits

opendbc/car/mazda/carstate.py

@@ -83,6 +83,7 @@ def __init__(self, CP, CP_SP):
     self.cam_laneinfo_seen = False
     self.cam_laneinfo_silent_frames = 0
     self.cam_empty_seen = False
+    self.cam_settings_seen = False
     self.radar_session_refused = False
     self.radar_session_response = 0
     self.fsc_settled_frames = 0
@@ -305,9 +306,8 @@ def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
     ret.cruiseState.standstill = cp.vl["PEDALS"]["STANDSTILL"] == 1 and not self.CP.openpilotLongitudinalControl
     ret.cruiseState.speed = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"] * CV.KPH_TO_MS
 
-    # Stock LKAS must be active.
-    # TODO: is this needed?
-    ret.invalidLkasSetting = cam_laneinfo_fresh and cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0
+    self.cam_settings_seen |= len(cp_cam.vl_all["CAM_SETTINGS"]["LKAS_INERVENTION_ON1"]) > 0
+    ret.invalidLkasSetting = self.cam_settings_seen and not all(cp_cam.vl["CAM_SETTINGS"][s] for s in ("LKAS_INERVENTION_ON1", "ILKAS_NTERVENTION_ON2"))
 
     if ret.cruiseState.enabled:
       if not self.lkas_allowed_speed and self.acc_active_last:
@@ -387,6 +387,7 @@ def get_can_parsers(CP, CP_SP):
     cam_messages = [
       # Read these optional camera messages without making them part of canValid.
       ("CAM_LANEINFO", float("nan")),
+      ("CAM_SETTINGS", float("nan")),
       ("CAM_TRAFFIC_SIGNS", float("nan")),
       ("CAM_EMPTY", float("nan")),
       ("CAM_PEDESTRIAN", float("nan")),

opendbc/car/mazda/tests/test_mazda_carstate.py

@@ -734,3 +734,29 @@ def test_rolling_or_leaving_standby_releases(self, release):
     kw.update(release)
     rig.step(100, 0, kw.pop('blocked'), **kw)
     assert not rig.CS.steer_first_engage_hold
+
+
+def test_intervention_bits_become_an_invalid_lkas_setting():
+  CI, pk = car_interface(alpha_long=False), packer()
+  healthy = pk.make_can_msg("CAM_SETTINGS", 2, {"LKAS_INERVENTION_ON1": 1, "ILKAS_NTERVENTION_ON2": 1})
+  assert not feed(CI, 0, healthy)[0].invalidLkasSetting
+  off = pk.make_can_msg("CAM_SETTINGS", 2, {"LKAS_INERVENTION_ON1": 0, "ILKAS_NTERVENTION_ON2": 0})
+  assert feed(CI, 1, off)[0].invalidLkasSetting
+  # the flag holds through the silent cycles between the message's arrivals
+  for i in range(2, 12):
+    assert feed(CI, i)[0].invalidLkasSetting
+  mixed = pk.make_can_msg("CAM_SETTINGS", 2, {"LKAS_INERVENTION_ON1": 1, "ILKAS_NTERVENTION_ON2": 0})
+  assert feed(CI, 12, mixed)[0].invalidLkasSetting
+
+
+def test_cam_settings_absence_never_reads_as_off():
+  # the parser's default zeros must not read as off on a car that never sends CAM_SETTINGS
+  CI = car_interface(alpha_long=False)
+  for i in range(10):
+    assert not feed(CI, i)[0].invalidLkasSetting
+
+
+def test_lane_lines_zero_alone_is_not_an_invalid_lkas_setting():
+  CI, pk = car_interface(alpha_long=False), packer()
+  lanes = pk.make_can_msg("CAM_LANEINFO", 2, {"LANE_LINES": 0})
+  assert not feed(CI, 0, lanes)[0].invalidLkasSetting