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tests/libpanda/safety_helpers.h

@@ -268,6 +268,10 @@ bool get_pcm_main_cruise_available(void){
   return m_mads_state.acc_main.available;
 }
 
+bool get_acc_main_on_non_pcm(void){
+  return m_mads_state.acc_main_on_non_pcm;
+}
+
 //int get_temp_debug(void){
 //  return temp_debug;
 //}

tests/libpanda/safety_helpers.py

@@ -76,6 +76,7 @@ def setup_safety_helpers(ffi):
   int get_temp_debug(void);
   bool get_mads_acc_main_prev(void);
   bool get_pcm_main_cruise_available(void);
+  bool get_acc_main_on_non_pcm(void);
   """)
 
 class PandaSafety(Protocol):
@@ -147,6 +148,7 @@ def set_lkas_button_press(self, lkas_button_press: int) -> None: ...
   def get_enable_mads(self) -> bool: ...
   def get_disengage_lat_on_brake(self) -> bool: ...
   def get_pcm_main_cruise_available(self) -> bool: ...
+  def get_acc_main_on_non_pcm(self) -> bool: ...
   #def set_main_button_engaged(self, engaged: bool) -> None: ...
   #def get_main_button_engaged(self) -> bool: ...
   #def set_lkas_button_engaged(self, engaged: bool) -> None: ...

tests/safety/mads_common.py

@@ -515,3 +515,75 @@ def test_enable_lateral_control_with_main_cruise_button_and_disable_with_lfa(sel
       self.assertFalse(self.safety.get_controls_allowed_lat())
     finally:
       self._mads_states_cleanup()
+
+  def test_acc_main_non_pcm_toggle_behavior(self):
+    """Test that non-PCM ACC main properly toggles states"""
+    try:
+      self._mads_states_cleanup()
+      self.safety.set_enable_mads(True, False)
+
+      # Initial state should be False
+      self.assertFalse(self.safety.get_acc_main_on_non_pcm())
+      self.assertFalse(self.safety.get_controls_requested_lat())
+
+      # First button press should toggle to True
+      self._rx(self._main_cruise_button_msg(True))
+      self._rx(self._main_cruise_button_msg(False))
+      self.assertTrue(self.safety.get_acc_main_on_non_pcm())
+      self.assertTrue(self.safety.get_controls_requested_lat())
+
+      # Second press should toggle to False
+      self._rx(self._main_cruise_button_msg(True))
+      self._rx(self._main_cruise_button_msg(False))
+      self.assertFalse(self.safety.get_acc_main_on_non_pcm())
+      self.assertFalse(self.safety.get_controls_requested_lat())
+    finally:
+      self._mads_states_cleanup()
+
+  def test_acc_main_non_pcm_multiple_toggles(self):
+    """Test multiple consecutive toggles of non-PCM ACC main"""
+    try:
+      self._mads_states_cleanup()
+      self.safety.set_enable_mads(True, False)
+
+      expected_state = False
+      # Test several toggle cycles
+      for _ in range(5):
+        self.assertEqual(self.safety.get_acc_main_on_non_pcm(), expected_state)
+        self.assertEqual(self.safety.get_controls_requested_lat(), expected_state)
+
+        self._rx(self._main_cruise_button_msg(True))
+        self._rx(self._main_cruise_button_msg(False))
+        expected_state = not expected_state
+    finally:
+      self._mads_states_cleanup()
+
+  def test_acc_main_non_pcm_controls_sync(self):
+    """Test that controls_requested_lat stays in sync with acc_main_non_pcm"""
+    try:
+      self._mads_states_cleanup()
+      self.safety.set_enable_mads(True, False)
+
+      # Test initial state
+      self.assertFalse(self.safety.get_acc_main_on_non_pcm())
+      self.assertFalse(self.safety.get_controls_requested_lat())
+
+      # Toggle and verify both states
+      for _ in range(3):
+        # Toggle on
+        self._rx(self._main_cruise_button_msg(True))
+        self._rx(self._main_cruise_button_msg(False))
+        self.assertTrue(self.safety.get_acc_main_on_non_pcm())
+        self.assertTrue(self.safety.get_controls_requested_lat())
+
+        # Toggle off
+        self._rx(self._main_cruise_button_msg(True))
+        self._rx(self._main_cruise_button_msg(False))
+        self.assertFalse(self.safety.get_acc_main_on_non_pcm())
+        self.assertFalse(self.safety.get_controls_requested_lat())
+
+        # Verify controls exit was called
+        self.assertEqual(self.safety.get_current_disengage_reason(),
+                         self.safety.get_disengage_reason_button())
+    finally:
+      self._mads_states_cleanup()