byd: fix canError ("Unknown Vehicle Variant") from strict parser alive checks

Explicit parser frequencies made canValid=False when state-dependent
messages are absent (PCM_BUTTONS is event-driven; MPC_LKAS_CMD/ACC_CMD
only flow when stock ADAS is active), tripping EventName.canError.

- Alive-check only control-critical messages, at a conservative 10Hz
  (1s timeout): ESC, BRAKE_APPLIED, PEDAL, STEER_MODULE, STEERING_TORQUE,
  DRIVE_STATE, ACC_HUD_ADAS
- Parse-but-don't-alive-check (nan) the rest: STALKS, METER_CLUSTER,
  MPC_LKAS_CMD, ACC_CMD
- PCM_BUTTONS is parsed on both pt and cam parsers (bus assignment is
  harness dependent); MADS reads LKAS_ON_BTN from whichever bus sees it

Verified: canValid=True with idle stock ADAS, LKAS button events work
from either bus, canValid stays True throughout.

.serena/.gitignore

@@ -0,0 +1,2 @@
+/cache
+/project.local.yml

.serena/project.yml

@@ -0,0 +1,167 @@
+# the name by which the project can be referenced within Serena/when chatting with the LLM.
+project_name: "OpenPilot"
+
+# list of languages for which language servers are started (LSP backend only); choose from:
+#   ada                 al                  angular             ansible             bash
+#   bsl                 clojure             cpp                 cpp_ccls            crystal
+#   csharp              csharp_omnisharp    cue                 dart                elixir
+#   elm                 erlang              fortran             fsharp              gdscript
+#   go                  groovy              haskell             haxe                hlsl
+#   html                java                json                julia               kotlin
+#   latex               lean4               lua                 luau                markdown
+#   matlab              msl                 nix                 ocaml               pascal
+#   perl                php                 php_phpactor        php_phpantom        powershell
+#   python              python_jedi         python_pyrefly      python_ty           r
+#   rego                ruby                ruby_solargraph     rust                scala
+#   scss                solidity            svelte              swift               systemverilog
+#   terraform           toml                typescript          typescript_vts      vue
+#   yaml                zig
+#   (This list may be outdated; generated with scripts/print_language_list.py;
+#   For the current list, see values of Language enum here:
+#   https://github.com/oraios/serena/blob/main/src/solidlsp/ls_config.py)
+# For some languages, there are alternative language servers, e.g. csharp_omnisharp, ruby_solargraph.)
+# Note:
+#   - For C, use cpp
+#   - For JavaScript, use typescript
+#   - For Angular projects, use angular (subsumes typescript+html; requires `npm install` in the project root)
+#   - For Svelte projects, use svelte (subsumes typescript/javascript for .svelte projects; requires npm)
+#   - For SCSS / Sass / plain CSS, use scss (some-sass-language-server handles all three)
+#   - For Free Pascal/Lazarus, use pascal
+# Special requirements:
+#   Some languages require additional setup/installations.
+#   See here for details: https://oraios.github.io/serena/01-about/020_programming-languages.html#language-servers
+# When using multiple languages, the first language server that supports a given file will be used for that file.
+# The first language is the default language and the respective language server will be used as a fallback.
+# Note that when using the JetBrains backend, language servers are not used and this list is correspondingly ignored.
+languages:
+- python
+
+# the encoding used by text files in the project
+# For a list of possible encodings, see https://docs.python.org/3.11/library/codecs.html#standard-encodings
+encoding: "utf-8"
+
+# optional shell command to run before the language backend (LSP or JetBrains) is initialised.
+# the command runs in the project root directory and is only executed if the project is trusted
+# (see trusted_project_path_patterns in the global configuration).
+# serena waits for the command to exit: a non-zero exit code is logged as an error but does not
+# abort activation. a per-project timeout (activation_command_timeout, default 180s) is the safety
+# backstop for non-terminating commands; on expiry the process is killed and activation continues.
+# example: activation_command: "npx nx run-many -t build"
+activation_command:
+
+# maximum time in seconds to wait for activation_command to complete before killing it (default 180s).
+# must be a positive number.
+activation_command_timeout: 180.0
+
+# line ending convention to use when writing source files.
+# Possible values: unset (use global setting), "lf", "crlf", or "native" (platform default)
+# This does not affect Serena's own files (e.g. memories and configuration files), which always use native line endings.
+line_ending:
+
+# The language backend to use for this project.
+# If not set, the global setting from serena_config.yml is used.
+# Valid values: LSP, JetBrains
+# Note: the backend is fixed at startup. If a project with a different backend
+# is activated post-init, an error will be returned.
+language_backend:
+
+# whether to use project's .gitignore files to ignore files
+ignore_all_files_in_gitignore: true
+
+# advanced configuration option allowing to configure language server-specific options.
+# Maps the language key to the options.
+# The settings are considered only if the project is trusted (see global configuration to define trusted projects).
+# See https://oraios.github.io/serena/02-usage/050_configuration.html#language-server-specific-settings
+ls_specific_settings: {}
+
+# list of workspace folder paths (LSP backend only).
+# These folders will be used to build up Serena's symbol index.
+# Paths must be within the project root and should thus be relative to the project root.
+# Furthermore, the paths should not be filtered by ignore settings.
+# Default setting: The entire project root folder (".") is considered.
+# In (large) monorepos, this can be used to index only subfolders of the project root, e.g.
+#   ls_workspace_folders:
+#     - "./subproject1"
+#     - "./subproject2"
+ls_workspace_folders:
+- "."
+
+# list of additional workspace folder paths for cross-package reference support.
+# Paths can be absolute or relative to the project root.
+# Each folder is registered as an LSP workspace folder, enabling language servers to discover
+# symbols and references across package boundaries, but these folders are not indexed by Serena,
+# i.e. the respective symbols will not be found using Serena's symbol search tools.
+# Example:
+#   additional_workspace_folders:
+#     - ../sibling-package
+#     - ../shared-lib
+ls_additional_workspace_folders: []
+
+# list of additional paths to ignore in this project.
+# Same syntax as gitignore, so you can use * and **.
+# Important: quote patterns that start with `*`, otherwise YAML treats them as aliases.
+# Example:
+#   ignored_paths:
+#     - "examples/**"
+#     - ".worktrees/**"
+#     - "**/bin/**"
+#     - "**/obj/**"
+# Note: global ignored_paths from serena_config.yml are also applied additively.
+ignored_paths: []
+
+# whether the project is in read-only mode
+# If set to true, all editing tools will be disabled and attempts to use them will result in an error
+# Added on 2025-04-18
+read_only: false
+
+# list of tool names to exclude.
+# This extends the existing exclusions (e.g. from the global configuration)
+# Find the list of tools here: https://oraios.github.io/serena/01-about/035_tools.html
+excluded_tools: []
+
+# list of tools to include that would otherwise be disabled (particularly optional tools that are disabled by default).
+# This extends the existing inclusions (e.g. from the global configuration).
+# Find the list of tools here: https://oraios.github.io/serena/01-about/035_tools.html
+included_optional_tools: []
+
+# fixed set of tools to use as the base tool set (if non-empty), replacing Serena's default set of tools.
+# This cannot be combined with non-empty excluded_tools or included_optional_tools.
+# Find the list of tools here: https://oraios.github.io/serena/01-about/035_tools.html
+fixed_tools: []
+
+# list of mode names that are to be activated by default, overriding the setting in the global configuration.
+# The full set of modes to be activated is base_modes (from global config) + default_modes + added_modes.
+# If the setting is undefined/empty, the default_modes from the global configuration (serena_config.yml) apply.
+# Otherwise, this overrides the setting from the global configuration (serena_config.yml).
+# Therefore, you can set this to [] if you do not want the default modes defined in the global config to apply
+# for this project.
+# This setting can, in turn, be overridden by CLI parameters (--mode).
+# See https://oraios.github.io/serena/02-usage/050_configuration.html#modes
+default_modes:
+
+# list of mode names to be activated additionally for this project, e.g. ["query-projects"]
+# The full set of modes to be activated is base_modes (from global config) + default_modes + added_modes.
+# See https://oraios.github.io/serena/02-usage/050_configuration.html#modes
+added_modes:
+
+# initial prompt for the project. It will always be given to the LLM upon activating the project
+# (contrary to the memories, which are loaded on demand).
+initial_prompt: ""
+
+# time budget (seconds) per tool call for the retrieval of additional symbol information
+# such as docstrings or parameter information.
+# This overrides the corresponding setting in the global configuration; see the documentation there.
+# If null or missing, use the setting from the global configuration.
+symbol_info_budget:
+
+# list of regex patterns which, when matched, mark a memory entry as read‑only.
+# Extends the list from the global configuration, merging the two lists.
+read_only_memory_patterns: []
+
+# list of regex patterns for memories to completely ignore.
+# Matching memories will not appear in list_memories or activate_project output
+# and cannot be accessed via read_memory or write_memory.
+# To access ignored memory files, use the read_file tool on the raw file path.
+# Extends the list from the global configuration, merging the two lists.
+# Example: ["_archive/.*", "_episodes/.*"]
+ignored_memory_patterns: []

opendbc_repo/opendbc/car/byd/carstate.py

@@ -100,23 +100,30 @@ class CarState(CarStateBase, MadsCarState):
 
   @staticmethod
   def get_can_parsers(CP, CP_SP):
+    # Frequencies are deliberately conservative (10x timeout forgiveness):
+    # only messages required for control are alive-checked, everything
+    # optional/state-dependent is parsed but not alive-checked (nan).
     pt_messages = [
       # sig_address, frequency
-      ("ESC", 50),
+      ("ESC", 10),
-      ("BRAKE_APPLIED", 50),
+      ("BRAKE_APPLIED", 10),
-      ("PEDAL", 50),
+      ("PEDAL", 10),
-      ("STEER_MODULE", 100),
+      ("STEER_MODULE", 10),
-      ("STEERING_TORQUE", 50),
+      ("STEERING_TORQUE", 10),
-      ("DRIVE_STATE", 50),
+      ("DRIVE_STATE", 10),
-      ("STALKS", 20),
+      ("STALKS", float('nan')),
-      ("METER_CLUSTER", 20),
+      ("METER_CLUSTER", float('nan')),
-      ("PCM_BUTTONS", 20),
+      # steering wheel buttons; bus assignment is harness dependent
+      ("PCM_BUTTONS", float('nan')),
     ]
 
     cam_messages = [
-      ("ACC_HUD_ADAS", 50),
+      ("ACC_HUD_ADAS", 10),
-      ("MPC_LKAS_CMD", 50),
+      # stock camera command echoes, only present when stock ADAS is active
-      ("ACC_CMD", 25),
+      ("MPC_LKAS_CMD", float('nan')),
+      ("ACC_CMD", float('nan')),
+      # PCM_BUTTONS may be forwarded on the camera bus on some harnesses
+      ("PCM_BUTTONS", float('nan')),
     ]
 
     return {

opendbc_repo/opendbc/sunnypilot/car/byd/mads.py

@@ -19,6 +19,12 @@ class MadsCarState(MadsCarStateBase):
 
   def update_mads(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
     cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+
+    # PCM_BUTTONS bus assignment is harness dependent; read from whichever bus sees it
+    lkas_button = cp.vl["PCM_BUTTONS"]["LKAS_ON_BTN"]
+    if not cp.vl_all["PCM_BUTTONS"]["LKAS_ON_BTN"] and cp_cam.vl_all["PCM_BUTTONS"]["LKAS_ON_BTN"]:
+      lkas_button = cp_cam.vl["PCM_BUTTONS"]["LKAS_ON_BTN"]
 
     self.prev_lkas_button = self.lkas_button
-    self.lkas_button = cp.vl["PCM_BUTTONS"]["LKAS_ON_BTN"]
+    self.lkas_button = lkas_button