car_diff: dedupe errors and render in dropdown

opendbc/car/car.capnp

@@ -358,6 +358,7 @@ struct CarControl {
 
   cruiseControl @4 :CruiseControl;
   hudControl @5 :HUDControl;
+  forceDecel @18 :Bool;
 
   struct Actuators {
     # lateral commands, mutually exclusive

opendbc/car/nissan/carcontroller.py

@@ -39,8 +39,7 @@ def update(self, CC, CS, now_nanos):
       else:
         # Scale max torque based on how much torque the driver is applying to the wheel
         lkas_max_torque = max(
-          # Scale max torque down to half LKAX_MAX_TORQUE as a minimum
-          CarControllerParams.LKAS_MAX_TORQUE * 0.5,
+          0.2,
           # Start scaling torque at STEER_THRESHOLD
           CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD)
         )
@@ -58,6 +57,10 @@ def update(self, CC, CS, now_nanos):
     can_sends.append(nissancan.create_steering_control(
       self.packer, self.apply_angle_last, self.frame, CC.latActive, lkas_max_torque))
 
+    # Use stock driver attentiveness warning when forcing a deceleration
+    for steer_torque_sensor_msg in CS.steer_torque_sensor_msgs:
+      can_sends.append(nissancan.create_steer_torque_sensor(self.packer, steer_torque_sensor_msg, CC.latActive, CC.forceDecel))
+
     # Below are the HUD messages. We copy the stock message and modify
     if self.CP.carFingerprint != CAR.NISSAN_ALTIMA:
       if self.frame % 2 == 0:

opendbc/car/nissan/carstate.py

@@ -18,6 +18,7 @@ def __init__(self, CP):
 
     self.lkas_hud_msg = {}
     self.lkas_hud_info_msg = {}
+    self.steer_torque_sensor_msgs = [{}]
 
     self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
     self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
@@ -91,9 +92,13 @@ def update(self, can_parsers) -> structs.CarState:
     if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
       ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
       ret.steerFaultTemporary = cp_cam.vl["STEER_TORQUE_SENSOR"]["LKAS_STATUS"] == 9
+      # self.steer_torque_sensor_msgs = cp_cam.vl_all["STEER_TORQUE_SENSOR"]
+      adas_status_msgs = cp_cam.vl_all["STEER_TORQUE_SENSOR"]
+      self.steer_torque_sensor_msgs = [dict(zip(adas_status_msgs, vals, strict=True)) for vals in zip(*adas_status_msgs.values(), strict=True)]
     else:
       ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
       ret.steerFaultTemporary = cp.vl["STEER_TORQUE_SENSOR"]["LKAS_STATUS"] == 9
+      self.steer_torque_sensor_msgs = cp.vl_all["STEER_TORQUE_SENSOR"]
 
     self.steeringTorqueSamples.append(ret.steeringTorque)
     # Filtering driver torque to prevent steeringPressed false positives
@@ -114,12 +119,11 @@ def update(self, can_parsers) -> structs.CarState:
     can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
-    # stock lkas should be off
-    # TODO: is this needed?
+    # stock lkas should be on to allow stock driver monitoring system to progress when desired
     if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
-      ret.invalidLkasSetting = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
+      ret.invalidLkasSetting = not bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
     else:
-      ret.invalidLkasSetting = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
+      ret.invalidLkasSetting = not bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
 
     self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
 

opendbc/car/nissan/nissancan.py

@@ -5,6 +5,24 @@
 nissan_checksum = mk_crc8_fun(CRC8J1850, init_crc=0x00, xor_out=0xFF)
 
 
+def create_steer_torque_spoof(packer, bus, steer_torque_msg, driver_torque):
+  # Re-emit EPS's STEER_TORQUE_SENSOR on the camera-side bus with a spoofed
+  # STEER_TORQUE_DRIVER to satisfy ProPilot's hands-on check. The real message
+  # from bus 0 must be blocked in safety so only this one reaches the ADAS ECU.
+  values = {s: steer_torque_msg[s] for s in [
+    "LKAS_ACTIVE",
+    "LKAS_STATUS",
+    "STEER_TORQUE_LKAS",
+    "STEER_ANGLE",
+    "COUNTER",
+  ]}
+  values["STEER_TORQUE_DRIVER"] = driver_torque
+
+  dat = packer.make_can_msg("STEER_TORQUE_SENSOR", bus, values)[1]
+  values["CHECKSUM"] = nissan_checksum(dat[:7])
+  return packer.make_can_msg("STEER_TORQUE_SENSOR", bus, values)
+
+
 def create_steering_control(packer, apply_torque, frame, steer_on, lkas_max_torque):
   values = {
     "COUNTER": frame % 0x10,
@@ -21,6 +39,30 @@ def create_steering_control(packer, apply_torque, frame, steer_on, lkas_max_torq
   return packer.make_can_msg("LKAS", 0, values)
 
 
+def create_steer_torque_sensor(packer, steer_torque_sensor_msg: dict, lat_active: bool, force_decel: bool):
+  values = {s: steer_torque_sensor_msg[s] for s in [
+    "STEER_TORQUE_DRIVER",
+    "STEER_ANGLE",
+    "LKAS_ACTIVE",
+    "STEER_TORQUE_LKAS",
+    "COUNTER",
+    "LKAS_STATUS",
+    "CHECKSUM",
+  ]}
+
+  # Starts stock driver monitoring progression by setting driver torque to 0
+  if force_decel:
+    values["STEER_TORQUE_DRIVER"] = 0.0
+  elif lat_active:
+    # When steering normally we need to silence stock DM system
+    values["STEER_TORQUE_DRIVER"] = 1.0
+
+  dat = packer.make_can_msg("STEER_TORQUE_SENSOR", 2, values)[1]
+
+  values["CHECKSUM"] = nissan_checksum(dat[:7])
+  return packer.make_can_msg("STEER_TORQUE_SENSOR", 2, values)
+
+
 def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
   values = {s: cruise_throttle_msg[s] for s in [
     "COUNTER",

opendbc/car/tests/car_diff.py

@@ -293,8 +293,16 @@ def main(platform: str | None = None, segments_per_platform: int = 10, update_re
   icon = "⚠️" if with_diffs else "✅"
   print(f"\n{icon}  {len(with_diffs)} changed, {n_passed} passed, {len(errors)} errors")
 
-  for plat, seg, err in errors:
-    print(f"\nERROR {plat} - {seg}: {err}")
+  if errors:
+    # Group identical errors so a single bug doesn't spam the report with one traceback per segment
+    by_err: dict[str, list[str]] = defaultdict(list)
+    for plat, seg, err in errors:
+      by_err[err].append(f"{plat} - {seg}")
+    print("<details><summary><b>Show errors</b></summary>\n\n```")
+    for err, segs in sorted(by_err.items(), key=lambda kv: -len(kv[1])):
+      affected = ", ".join(segs[:3]) + (f" (+{len(segs) - 3} more)" if len(segs) > 3 else "")
+      print(f"\nERROR ({len(segs)}x) {affected}:\n{err.rstrip()}")
+    print("```\n</details>")
 
   if with_diffs:
     print("<details><summary><b>Show changes</b></summary>\n\n```")

opendbc/dbc/generator/nissan/_nissan_common.dbc

@@ -26,6 +26,9 @@ BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
  SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
  SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
 
+BO_ 658 ACCEL: 8 XXX
+ SG_ EGO_ACCEL : 7|16@0+ (0.0005,-16.5) [-16.5|16.27] "m/s^2" XXX
+
 BO_ 689 PROPILOT_HUD: 8 XXX
  SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
  SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX

opendbc/safety/modes/nissan.h

@@ -104,7 +104,8 @@ static safety_config nissan_init(uint16_t param) {
     {0x4cc, 0, 8, .check_relay = true},   // PROPILOT_HUD_INFO_MSG
     {0x20b, 2, 6, .check_relay = false},  // CRUISE_THROTTLE (X-Trail)
     {0x20b, 1, 6, .check_relay = false},  // CRUISE_THROTTLE (Altima)
-    {0x280, 2, 8, .check_relay = true}    // CANCEL_MSG (Leaf)
+    {0x280, 2, 8, .check_relay = true},   // CANCEL_MSG (Leaf)
+    {0x185, 2, 8, .check_relay = true},   // STEER_TORQUE_SENSOR
   };
 
   // Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.